+ python -m lidar_slam --result /working/result.json --no-model /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/58c59a8f-1a99-4ef5-87a3-616022f7fc66 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 0.002557844 Adjusted end_distance from 9.223372036854776e+18 to 513.932557844 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002557844 meters Centerline goodness : 0.278574 with order 1 Centerline is valid? [0, False] SLAMing on 0.062557844 meters Centerline goodness : 0.282121 with order 2 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999818e-01 -5.93393614e-06 6.02674578e-04 1.03995216e-03] [ 5.69862301e-06 9.99999924e-01 3.90449041e-04 -2.06607810e-03] [-6.02676849e-04 -3.90445536e-04 9.99999742e-01 4.74804724e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122557844 meters Centerline goodness : 0.238951 with order 2 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999223e-01 -2.96942952e-06 1.24670315e-03 1.55392089e-03] [ 2.21033170e-06 9.99999815e-01 6.08885109e-04 -2.68748279e-03] [-1.24670472e-03 -6.08881880e-04 9.99999037e-01 1.07654728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182557844 meters Centerline goodness : 0.178757 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:0.00 [[ 9.99998593e-01 -1.38225354e-04 1.67207486e-03 3.94701004e-03] [ 1.35810537e-04 9.99998948e-01 1.44423123e-03 -9.04419877e-03] [-1.67227273e-03 -1.44400211e-03 9.99997559e-01 1.27942582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242557844 meters Centerline goodness : 0.154320 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 0.99999824 -0.00135771 0.00129461 0.0146015 ] [ 0.00135584 0.99999804 0.00144297 -0.0127464 ] [-0.00129657 -0.00144121 0.99999812 -0.00507442] [ 0. 0. 0. 1. ]] SLAMing on 0.30255784399999996 meters Centerline goodness : 0.082047 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 0.99998797 -0.00464903 0.00156155 0.02246641] [ 0.00465125 0.99998818 -0.00141781 -0.01521027] [-0.00155494 0.00142506 0.99999778 -0.01044522] [ 0. 0. 0. 1. ]] SLAMing on 0.36255784399999996 meters Centerline goodness : 0.091421 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.01 [[ 9.99986974e-01 -4.61119833e-03 2.18840554e-03 2.35777360e-02] [ 4.61333727e-03 9.99988885e-01 -9.73358900e-04 -1.76139984e-02] [-2.18389286e-03 9.83442074e-04 9.99997132e-01 -1.00734328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42255784399999996 meters Centerline goodness : 0.112004 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.02 [[ 0.99998088 -0.00585788 0.00197973 0.03618186] [ 0.00586063 0.99998186 -0.00138721 -0.01867211] [-0.00197157 0.00139878 0.99999708 -0.01845825] [ 0. 0. 0. 1. ]] SLAMing on 0.48255784399999996 meters Centerline goodness : 0.145101 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99996307 -0.00787678 0.0034377 0.02923605] [ 0.00788466 0.99996631 -0.00228266 -0.01947052] [-0.0034196 0.00230968 0.99999149 -0.01315034] [ 0. 0. 0. 1. ]] SLAMing on 0.5425578440000001 meters Centerline goodness : 0.141723 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99995743 -0.00827302 0.0040852 0.03133984] [ 0.00828342 0.99996248 -0.00253637 -0.01715517] [-0.00406406 0.0025701 0.99998844 -0.01334365] [ 0. 0. 0. 1. ]] SLAMing on 0.602557844 meters Centerline goodness : 0.065516 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99995505 -0.00851523 0.0041704 0.03351405] [ 0.00852798 0.99995899 -0.00304845 -0.01360284] [-0.00414427 0.00308387 0.99998666 -0.0140109 ] [ 0. 0. 0. 1. ]] SLAMing on 0.662557844 meters Centerline goodness : 0.105954 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 9.99975491e-01 -4.99179063e-03 4.90909985e-03 3.68452583e-02] [ 4.99107849e-03 9.99987532e-01 1.57306646e-04 -6.65278068e-03] [-4.90982389e-03 -1.32801088e-04 9.99987938e-01 -1.49545515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722557844 meters Centerline goodness : 0.111187 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99975890e-01 -3.15531540e-03 6.18580938e-03 3.16710868e-02] [ 3.15097565e-03 9.99994783e-01 7.11185936e-04 -1.06553110e-03] [-6.18802112e-03 -6.91677454e-04 9.99980615e-01 -1.02951487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7825578440000001 meters Centerline goodness : 0.112061 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 9.99985462e-01 -2.08988162e-03 4.97080677e-03 4.39104784e-02] [ 2.08740881e-03 9.99997695e-01 5.02603674e-04 7.09473595e-03] [-4.97184569e-03 -4.92220261e-04 9.99987519e-01 -1.83164059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842557844 meters Centerline goodness : 0.114638 with order 2 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 9.99992510e-01 -1.25153846e-03 3.66238698e-03 5.64343622e-02] [ 1.25027047e-03 9.99999158e-01 3.48489929e-04 1.54368194e-02] [-3.66282004e-03 -3.43908345e-04 9.99993233e-01 -2.57353326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9025578439999999 meters Centerline goodness : 0.071055 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 9.99988832e-01 -1.74123788e-03 4.39369526e-03 5.74311560e-02] [ 1.74222911e-03 9.99998458e-01 -2.21785540e-04 1.95178250e-02] [-4.39330231e-03 2.29437887e-04 9.99990323e-01 -2.50781222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.962557844 meters Centerline goodness : 0.059560 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.02 [[ 9.99989518e-01 -1.99739332e-03 4.12010851e-03 5.99463995e-02] [ 1.99893422e-03 9.99997934e-01 -3.69911363e-04 2.07835803e-02] [-4.11936113e-03 3.78143311e-04 9.99991444e-01 -2.45509313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022557844 meters SLAMing on 1.082557844 meters SLAMing on 1.142557844 meters SLAMing on 1.202557844 meters SLAMing on 1.262557844 meters Centerline goodness : 0.076678 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.03, Z:-0.03 [[ 0.9997673 0.02062699 0.00631487 0.2162809 ] [-0.02061524 0.99978564 -0.00192145 0.02718043] [-0.00635315 0.00179082 0.99997821 -0.02601997] [ 0. 0. 0. 1. ]] SLAMing on 1.3225578439999999 meters Centerline goodness : 0.075343 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:0.03, Z:-0.03 [[ 9.99897446e-01 1.41835883e-02 1.98055988e-03 2.47848002e-01] [-1.41817380e-02 9.99898987e-01 -9.45191410e-04 2.68159824e-02] [-1.99376602e-03 9.17006696e-04 9.99997592e-01 -2.60767262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.382557844 meters Centerline goodness : 0.074967 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:-0.02 [[ 9.99986370e-01 5.19376962e-03 5.34334221e-04 2.72424212e-01] [-5.19438386e-03 9.99985842e-01 1.15465771e-03 2.10782733e-02] [-5.28329630e-04 -1.15741751e-03 9.99999191e-01 -2.07494943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.442557844 meters Centerline goodness : 0.466967 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.02, Z:-0.02 [[ 9.99987427e-01 5.01455647e-03 1.56741134e-05 2.76521812e-01] [-5.01457636e-03 9.99985859e-01 1.77086309e-03 1.69022541e-02] [-6.79379873e-06 -1.77091942e-03 9.99998432e-01 -2.01984446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502557844 meters Centerline goodness : 0.494062 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.02 [[ 0.99998575 0.00519608 0.00122509 0.27824056] [-0.005199 0.99998362 0.00239385 0.01346392] [-0.00121263 -0.00240019 0.99999638 -0.01948081] [ 0. 0. 0. 1. ]] SLAMing on 1.562557844 meters Centerline goodness : 0.528834 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.02 [[ 9.99985351e-01 5.32560510e-03 9.67505741e-04 2.80743476e-01] [-5.32801822e-03 9.99982659e-01 2.50894544e-03 1.27865660e-02] [-9.54127310e-04 -2.51406357e-03 9.99996385e-01 -1.95924289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.622557844 meters Centerline goodness : 0.072472 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.02 [[ 0.99998275 0.00541592 0.00227439 0.28179045] [-0.00542275 0.99998077 0.00300861 0.01015389] [-0.00225805 -0.0030209 0.99999289 -0.01948571] [ 0. 0. 0. 1. ]] SLAMing on 1.682557844 meters Centerline goodness : 0.072391 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.02 [[ 0.99998178 0.00568692 0.00202527 0.28433007] [-0.0056939 0.99997781 0.00345794 0.00718246] [-0.00200556 -0.0034694 0.99999197 -0.01948471] [ 0. 0. 0. 1. ]] SLAMing on 1.742557844 meters Centerline goodness : 0.581690 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.02 [[ 0.99998359 0.00540598 0.0018968 0.29048705] [-0.00541148 0.99998114 0.00290518 0.008341 ] [-0.00188106 -0.0029154 0.99999398 -0.02308216] [ 0. 0. 0. 1. ]] SLAMing on 1.8025578439999999 meters Centerline goodness : 0.368715 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.00, Z:-0.02 [[ 0.99998196 0.00575277 0.00172559 0.29295121] [-0.00575886 0.99997714 0.00354454 0.00424714] [-0.00170516 -0.00355441 0.99999223 -0.02291366] [ 0. 0. 0. 1. ]] SLAMing on 1.862557844 meters Centerline goodness : 0.072275 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:-0.02 [[ 9.99977935e-01 5.97511851e-03 2.90296830e-03 2.93425735e-01] [-5.98795717e-03 9.99972241e-01 4.43422386e-03 -2.27554099e-04] [-2.87639270e-03 -4.45150887e-03 9.99985955e-01 -2.15994706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.922557844 meters Centerline goodness : 0.072036 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.00, Z:-0.02 [[ 0.99997594 0.00631132 0.00287933 0.29498333] [-0.00632514 0.99996839 0.00481821 -0.00298554] [-0.00284883 -0.0048363 0.99998425 -0.02185989] [ 0. 0. 0. 1. ]] SLAMing on 1.982557844 meters Centerline goodness : 0.107785 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.01, Z:-0.02 [[ 0.99997307 0.00659948 0.00320968 0.29578815] [-0.00661708 0.99996296 0.00550449 -0.00700198] [-0.00317323 -0.00552558 0.9999797 -0.02230659] [ 0. 0. 0. 1. ]] SLAMing on 2.042557844 meters Centerline goodness : 0.132844 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.01, Z:-0.02 [[ 0.99997883 0.00510997 0.00402836 0.29068609] [-0.00512848 0.99997628 0.00459672 -0.00898357] [-0.00400477 -0.00461728 0.99998132 -0.01726266] [ 0. 0. 0. 1. ]] SLAMing on 2.102557844 meters Centerline goodness : 0.101777 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.01, Z:-0.02 [[ 9.99989127e-01 1.12882516e-03 4.52448461e-03 2.91068585e-01] [-1.13329713e-03 9.99998872e-01 9.85952728e-04 -1.17527082e-02] [-4.52336654e-03 -9.91069593e-04 9.99989278e-01 -1.57297681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162557844 meters Centerline goodness : 0.673051 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.02 [[ 0.99998881 0.00145223 0.00450146 0.29201283] [-0.00146118 0.99999696 0.00198461 -0.01723963] [-0.00449857 -0.00199117 0.9999879 -0.01532098] [ 0. 0. 0. 1. ]] SLAMing on 2.222557844 meters Centerline goodness : 0.449499 with order 3 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.01 [[ 9.99981698e-01 -1.43962060e-05 6.05006670e-03 2.84984463e-01] [ 7.74665407e-06 9.99999396e-01 1.09910937e-03 -2.35047106e-02] [-6.05007887e-03 -1.09904239e-03 9.99981094e-01 -9.54840850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.282557844 meters Centerline goodness : 0.549702 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.03, Z:-0.00 [[ 9.99937625e-01 4.95464368e-04 1.11579718e-02 2.30648232e-01] [-5.24799816e-04 9.99996413e-01 2.62632776e-03 -3.22398254e-02] [-1.11566306e-02 -2.63201964e-03 9.99934299e-01 -3.48161908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.342557844 meters Centerline goodness : 0.666575 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.00 [[ 9.99906837e-01 6.86371469e-03 1.17986077e-02 2.04376977e-01] [-6.86981214e-03 9.99976289e-01 4.76342964e-04 -4.18542533e-02] [-1.17950585e-02 -5.57352804e-04 9.99930281e-01 7.97179134e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.402557844 meters Centerline goodness : 0.659873 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.01 [[ 0.99986095 0.00603855 0.01554396 0.149847 ] [-0.00606575 0.99998015 0.00170335 -0.04908539] [-0.01553336 -0.0017974 0.99987773 0.00785452] [ 0. 0. 0. 1. ]] SLAMing on 2.462557844 meters Centerline goodness : 0.653702 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:0.02 [[ 9.99989974e-01 4.47459050e-03 1.71230078e-04 1.51745772e-01] [-4.47470080e-03 9.99989778e-01 6.49309189e-04 -5.24948477e-02] [-1.68322935e-04 -6.50068883e-04 9.99999775e-01 1.92818304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522557844 meters Centerline goodness : 0.645403 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:0.03 [[ 0.99998451 0.00284295 0.00478426 0.09466273] [-0.00284843 0.99999529 0.00113956 -0.06140201] [-0.004781 -0.00115317 0.99998791 0.02957211] [ 0. 0. 0. 1. ]] SLAMing on 2.582557844 meters Centerline goodness : 0.640026 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.06, Z:0.04 [[ 0.99995618 0.00268279 0.00896914 0.03726175] [-0.00269718 0.99999509 0.00159287 -0.06383266] [-0.00896482 -0.00161699 0.99995851 0.03805295] [ 0. 0. 0. 1. ]] SLAMing on 2.6425578439999997 meters Centerline goodness : 0.634288 with order 1 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.06, Z:0.04 [[ 0.99995087 0.00234494 0.00963122 -0.0114987 ] [-0.00236211 0.99999564 0.00177195 -0.06491472] [-0.00962702 -0.00179461 0.99995205 0.04184283] [ 0. 0. 0. 1. ]] SLAMing on 2.7025578439999998 meters Centerline goodness : 0.626584 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.06, Z:0.05 [[ 0.99993198 0.00148125 0.01156929 -0.06334605] [-0.00149779 0.99999787 0.00142125 -0.06332322] [-0.01156716 -0.00143848 0.99993206 0.04879359] [ 0. 0. 0. 1. ]] SLAMing on 2.762557844 meters Centerline goodness : 0.622851 with order 1 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.06, Z:0.06 [[ 9.99911532e-01 -2.18315708e-03 1.31210288e-02 -1.14894559e-01] [ 2.19124658e-03 9.99997418e-01 -6.02184507e-04 -6.42154988e-02] [-1.31196803e-02 6.30882642e-04 9.99913734e-01 5.59976273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.822557844 meters Centerline goodness : 0.621246 with order 1 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.06, Z:0.06 [[ 0.99989601 -0.01128814 0.00897485 -0.13606334] [ 0.0112771 0.99993559 0.00127941 -0.06490302] [-0.00898871 -0.00117807 0.99995891 0.06230237] [ 0. 0. 0. 1. ]] SLAMing on 2.882557844 meters Centerline goodness : 0.595149 with order 1 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.07, Z:0.07 [[ 0.99973957 -0.02207516 0.0057863 -0.1620277 ] [ 0.02206602 0.99975517 0.00163983 -0.06515431] [-0.00582108 -0.00151172 0.99998191 0.07180824] [ 0. 0. 0. 1. ]] SLAMing on 2.942557844 meters Centerline goodness : 0.588367 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.07, Z:0.08 [[ 9.99658940e-01 -2.49693232e-02 7.65092440e-03 -2.17161789e-01] [ 2.49708863e-02 9.99688173e-01 -1.08823681e-04 -6.69347616e-02] [-7.64582138e-03 2.99836928e-04 9.99970725e-01 8.16965154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002557844 meters Centerline goodness : 0.587402 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.06, Z:0.09 [[ 0.99975729 -0.02164605 0.00409996 -0.24232636] [ 0.02166864 0.99974982 -0.00554683 -0.06461689] [-0.00397887 0.00563432 0.99997621 0.09027656] [ 0. 0. 0. 1. ]] SLAMing on 3.062557844 meters Centerline goodness : 0.582162 with order 1 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.06, Z:0.10 [[ 0.99973767 -0.02271103 0.00296694 -0.29014199] [ 0.02272861 0.99972346 -0.00603365 -0.06491594] [-0.00282909 0.0060995 0.9999774 0.09589557] [ 0. 0. 0. 1. ]] SLAMing on 3.122557844 meters Centerline goodness : 0.578233 with order 1 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.07, Z:0.11 [[ 0.99980461 -0.019678 -0.00187368 -0.35892756] [ 0.01966189 0.99977254 -0.00826361 -0.06678813] [ 0.00203586 0.00822516 0.9999641 0.11097159] [ 0. 0. 0. 1. ]] SLAMing on 3.1825578439999997 meters Centerline goodness : 0.580007 with order 1 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.07, Z:0.12 [[ 0.99971062 -0.02375475 -0.00379419 -0.44685497] [ 0.02372137 0.99968152 -0.00861163 -0.07029187] [ 0.00399755 0.00851914 0.99995572 0.1219791 ] [ 0. 0. 0. 1. ]] SLAMing on 3.242557844 meters Centerline goodness : 0.570183 with order 1 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.07, Z:0.12 [[ 0.99967665 -0.0253097 -0.0024542 -0.45171979] [ 0.02528575 0.99963663 -0.00934013 -0.06985547] [ 0.0026897 0.00927506 0.99995337 0.12449595] [ 0. 0. 0. 1. ]] SLAMing on 3.302557844 meters Centerline goodness : 0.563799 with order 1 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.07, Z:0.14 [[ 0.99961407 -0.02674645 -0.00750593 -0.48026423] [ 0.02661318 0.99949565 -0.01732577 -0.07278818] [ 0.00796555 0.01711932 0.99982172 0.13997427] [ 0. 0. 0. 1. ]] SLAMing on 3.362557844 meters Centerline goodness : 0.560280 with order 1 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.08, Z:0.15 [[ 0.99955334 -0.02846333 -0.00910793 -0.52748958] [ 0.0283056 0.99945471 -0.01700246 -0.08028411] [ 0.00958691 0.01673706 0.99981396 0.14577027] [ 0. 0. 0. 1. ]] SLAMing on 3.422557844 meters Centerline goodness : 0.553216 with order 1 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.09, Z:0.15 [[ 0.99951081 -0.02919797 -0.01120795 -0.57396816] [ 0.02901519 0.99944868 -0.01613883 -0.08742884] [ 0.01167299 0.01580574 0.99980694 0.15238155] [ 0. 0. 0. 1. ]] SLAMing on 3.482557844 meters Centerline goodness : 0.549941 with order 1 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.09, Z:0.17 [[ 0.99959816 -0.02387969 -0.01527363 -0.65028081] [ 0.02361413 0.9995708 -0.01733732 -0.09413828] [ 0.01568109 0.01696968 0.99973303 0.17025265] [ 0. 0. 0. 1. ]] SLAMing on 3.542557844 meters Centerline goodness : 0.558626 with order 1 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.10, Z:0.18 [[ 0.99957565 -0.02460909 -0.01558577 -0.70320688] [ 0.02433864 0.99955389 -0.01731073 -0.0990868 ] [ 0.01600482 0.01692404 0.99972867 0.17993583] [ 0. 0. 0. 1. ]] SLAMing on 3.6025578439999997 meters Centerline goodness : 0.557189 with order 1 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.10, Z:0.19 [[ 0.99962967 -0.01969321 -0.01878046 -0.73320583] [ 0.01929911 0.99959445 -0.02093992 -0.10197462] [ 0.01918522 0.02056972 0.99960433 0.19116114] [ 0. 0. 0. 1. ]] SLAMing on 3.6625578439999997 meters Centerline goodness : 0.549278 with order 1 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.20 [[ 0.99955943 -0.0222738 -0.01961684 -0.78553417] [ 0.02185025 0.99952903 -0.02154711 -0.10722759] [ 0.02008753 0.02110898 0.99957536 0.20168341] [ 0. 0. 0. 1. ]] SLAMing on 3.722557844 meters Centerline goodness : 0.544384 with order 1 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.11, Z:0.21 [[ 0.99950168 -0.02504081 -0.01921834 -0.79052348] [ 0.02457778 0.99941069 -0.02396253 -0.10915198] [ 0.01980706 0.02347824 0.99952811 0.20684839] [ 0. 0. 0. 1. ]] SLAMing on 3.782557844 meters Centerline goodness : 0.542370 with order 1 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.11, Z:0.21 [[ 0.99951052 -0.02749201 -0.01493015 -0.75830779] [ 0.02715501 0.99938193 -0.02232422 -0.11261456] [ 0.01553466 0.02190787 0.99963929 0.20646421] [ 0. 0. 0. 1. ]] SLAMing on 3.842557844 meters Centerline goodness : 0.539843 with order 1 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.11, Z:0.21 [[ 0.99955033 -0.02630573 -0.01439233 -0.76323814] [ 0.02599611 0.99943524 -0.02129321 -0.11330802] [ 0.01494434 0.02090949 0.99966968 0.21160095] [ 0. 0. 0. 1. ]] SLAMing on 3.902557844 meters Centerline goodness : 0.537106 with order 1 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.11, Z:0.22 [[ 0.99963926 -0.0226613 -0.01441589 -0.76583309] [ 0.02239407 0.99957921 -0.01843655 -0.11139867] [ 0.01482762 0.01810707 0.9997261 0.21668941] [ 0. 0. 0. 1. ]] SLAMing on 3.962557844 meters Centerline goodness : 0.533968 with order 1 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.10, Z:0.22 [[ 0.99963542 -0.02263081 -0.01472651 -0.76721778] [ 0.02233977 0.99955759 -0.01963569 -0.1031113 ] [ 0.01516436 0.01929955 0.99969874 0.22021366] [ 0. 0. 0. 1. ]] SLAMing on 4.022557844 meters Centerline goodness : 0.531444 with order 1 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.09, Z:0.24 [[ 0.99959266 -0.02043872 -0.01991935 -0.80098401] [ 0.01993437 0.99948373 -0.0251972 -0.094351 ] [ 0.02042406 0.02478985 0.99948403 0.23636567] [ 0. 0. 0. 1. ]] SLAMing on 4.082557844 meters Centerline goodness : 0.530184 with order 3 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.09, Z:0.24 [[ 0.99956684 -0.02391105 -0.01715809 -0.76156759] [ 0.02339807 0.99929089 -0.02949998 -0.08507614] [ 0.0178513 0.02908574 0.99941751 0.23872184] [ 0. 0. 0. 1. ]] SLAMing on 4.142557844 meters Centerline goodness : 0.532873 with order 1 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.08, Z:0.24 [[ 0.99962504 -0.02153097 -0.01691709 -0.76560606] [ 0.0210802 0.99942952 -0.02638673 -0.0837936 ] [ 0.01747557 0.02602022 0.99950866 0.24174534] [ 0. 0. 0. 1. ]] SLAMing on 4.202557844 meters Centerline goodness : 0.531309 with order 1 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.08, Z:0.25 [[ 0.99961172 -0.022013 -0.01708297 -0.76659709] [ 0.02153275 0.99938141 -0.02780552 -0.07923449] [ 0.01768449 0.02742688 0.99946737 0.24550165] [ 0. 0. 0. 1. ]] SLAMing on 4.262557844 meters Centerline goodness : 0.530097 with order 1 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.08, Z:0.24 [[ 0.99979746 -0.01513577 -0.01326422 -0.74543522] [ 0.01471691 0.99940712 -0.031126 -0.07659719] [ 0.01372747 0.03092449 0.99942745 0.24463927] [ 0. 0. 0. 1. ]] SLAMing on 4.322557844 meters Centerline goodness : 0.530566 with order 1 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.07, Z:0.25 [[ 0.99983803 -0.01268159 -0.01277056 -0.75113219] [ 0.01230873 0.99950755 -0.02886422 -0.07445617] [ 0.01313032 0.02870235 0.99950176 0.24975794] [ 0. 0. 0. 1. ]] SLAMing on 4.382557844 meters Centerline goodness : 0.526951 with order 1 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.07, Z:0.25 [[ 0.99990437 -0.0099872 -0.00956555 -0.71391813] [ 0.00972246 0.99957908 -0.02733369 -0.0717104 ] [ 0.00983451 0.02723807 0.9995806 0.25349035] [ 0. 0. 0. 1. ]] SLAMing on 4.4425578439999995 meters Centerline goodness : 0.521411 with order 1 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.06, Z:0.27 [[ 0.99994292 -0.00635012 -0.00859254 -0.72605601] [ 0.00613544 0.99967399 -0.02478445 -0.06486652] [ 0.00874713 0.02473032 0.99965589 0.26644468] [ 0. 0. 0. 1. ]] SLAMing on 4.502557844 meters Centerline goodness : 0.522231 with order 1 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.06, Z:0.28 [[ 0.99988714 -0.00181484 -0.01491341 -0.75725425] [ 0.00137799 0.99957116 -0.02925071 -0.05508227] [ 0.0149601 0.02922686 0.99946085 0.28237377] [ 0. 0. 0. 1. ]] SLAMing on 4.562557844 meters Centerline goodness : 0.521042 with order 3 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.05, Z:0.28 [[ 0.99988315 -0.0019953 -0.01515586 -0.75651655] [ 0.00154151 0.99955187 -0.02989462 -0.0520442 ] [ 0.01520872 0.02986776 0.99943815 0.28268895] [ 0. 0. 0. 1. ]] SLAMing on 4.622557844 meters Centerline goodness : 0.518022 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.04, Z:0.30 [[ 9.99847691e-01 -1.40778109e-04 -1.74521038e-02 -8.09987453e-01] [-3.84369930e-04 9.99547306e-01 -3.00838095e-02 -4.19228926e-02] [ 1.74484385e-02 3.00859355e-02 9.99395011e-01 2.97500706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682557844 meters Centerline goodness : 0.514697 with order 1 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.03, Z:0.30 [[ 0.99984077 0.00254375 -0.01766264 -0.81389995] [-0.00304495 0.99959178 -0.02840769 -0.03434722] [ 0.01758316 0.02845694 0.99944036 0.30388803] [ 0. 0. 0. 1. ]] SLAMing on 4.742557844 meters Centerline goodness : 0.511910 with order 1 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.03, Z:0.32 [[ 0.99978758 0.0055489 -0.01984973 -0.87425336] [-0.00610132 0.9995927 -0.02787835 -0.02517059] [ 0.01968695 0.02799354 0.99941422 0.32394723] [ 0. 0. 0. 1. ]] SLAMing on 4.802557844 meters Centerline goodness : 0.516979 with order 2 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.02, Z:0.34 [[ 0.99973328 0.01040633 -0.02061736 -0.94672135] [-0.01104638 0.99945282 -0.03117745 -0.01894238] [ 0.02028164 0.03139688 0.9993012 0.3350081 ] [ 0. 0. 0. 1. ]] SLAMing on 4.8625578439999995 meters Centerline goodness : 0.512009 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.02, Z:0.33 [[ 0.99979396 0.00995594 -0.01768927 -0.91565355] [-0.01038187 0.99965438 -0.02415243 -0.01797406] [ 0.0174427 0.0243311 0.99955177 0.32644995] [ 0. 0. 0. 1. ]] SLAMing on 4.922557844 meters Centerline goodness : 0.514252 with order 1 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.34 [[ 0.99980846 0.01019885 -0.01670405 -0.9275763 ] [-0.01060303 0.99964874 -0.02428923 -0.01225184] [ 0.01645046 0.02446169 0.99956541 0.33915784] [ 0. 0. 0. 1. ]] SLAMing on 4.982557844 meters Centerline goodness : 0.511922 with order 2 Centerline is valid? [False, False] Translation: X:-0.93, Y:-0.01, Z:0.34 [[ 0.99981242 0.00918623 -0.01705123 -0.93058867] [-0.00962533 0.99961947 -0.02585092 -0.00764717] [ 0.01680727 0.02601019 0.99952038 0.34495313] [ 0. 0. 0. 1. ]] SLAMing on 5.042557844 meters Centerline goodness : 0.511334 with order 2 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.00, Z:0.36 [[ 0.99972429 0.01570322 -0.01745729 -1.00769686] [-0.01619274 0.99946938 -0.02826221 -0.00381501] [ 0.01700421 0.0285371 0.99944809 0.36045933] [ 0. 0. 0. 1. ]] SLAMing on 5.102557844 meters Centerline goodness : 0.509462 with order 1 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.00, Z:0.37 [[ 9.99688347e-01 1.81892050e-02 -1.70986001e-02 -1.01367973e+00] [-1.86343564e-02 9.99481821e-01 -2.62459598e-02 -6.51560821e-04] [ 1.66123468e-02 2.65564016e-02 9.99509273e-01 3.67075584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162557844 meters Centerline goodness : 0.506241 with order 1 Centerline is valid? [False, False] Translation: X:-1.02, Y:0.00, Z:0.37 [[ 0.99966678 0.01997812 -0.01634647 -1.02061761] [-0.02037625 0.99949062 -0.02456245 0.00121763] [ 0.01584743 0.02488734 0.99956464 0.37374033] [ 0. 0. 0. 1. ]] SLAMing on 5.222557844 meters Centerline goodness : 0.502454 with order 1 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.00, Z:0.37 [[ 0.99983563 0.01441151 -0.01100087 -0.99962379] [-0.01464463 0.99966345 -0.02141293 -0.00171817] [ 0.01068857 0.02157051 0.99971019 0.37177867] [ 0. 0. 0. 1. ]] SLAMing on 5.282557843999999 meters Centerline goodness : 0.499543 with order 1 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.01, Z:0.37 [[ 0.9998297 0.01459979 -0.01128805 -1.00040075] [-0.01483227 0.99967377 -0.02079325 -0.00512631] [ 0.01098079 0.02095714 0.99972007 0.37476007] [ 0. 0. 0. 1. ]] SLAMing on 5.342557844 meters Centerline goodness : 0.496606 with order 1 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.00, Z:0.38 [[ 0.99979313 0.01707785 -0.01104772 -1.00471489] [-0.01727905 0.99968175 -0.01838032 -0.00263637] [ 0.01073031 0.01856741 0.99977003 0.37951266] [ 0. 0. 0. 1. ]] SLAMing on 5.4025578439999995 meters Centerline goodness : 0.490817 with order 1 Centerline is valid? [False, False] Translation: X:-1.01, Y:-0.00, Z:0.39 [[ 0.99979594 0.01739184 -0.01027644 -1.01464036] [-0.01757807 0.99967767 -0.01831827 -0.00110403] [ 0.00995454 0.01849517 0.99977939 0.38996608] [ 0. 0. 0. 1. ]] SLAMing on 5.462557844 meters Centerline goodness : 0.487646 with order 1 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.01, Z:0.40 [[ 0.9997731 0.01874434 -0.01011907 -1.01901661] [-0.01890883 0.9996865 -0.01641205 -0.00549796] [ 0.00980827 0.01659966 0.99981411 0.39604461] [ 0. 0. 0. 1. ]] SLAMing on 5.522557844 meters Centerline goodness : 0.484843 with order 1 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.01, Z:0.39 [[ 0.9999341 0.00723577 -0.00891289 -0.99273104] [-0.00739643 0.99980833 -0.01812712 -0.00608952] [ 0.00878002 0.01819185 0.99979596 0.39395278] [ 0. 0. 0. 1. ]] SLAMing on 5.582557844 meters Centerline goodness : 0.482247 with order 1 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.01, Z:0.41 [[ 0.99994209 -0.00128541 -0.01068481 -1.02651047] [ 0.00110637 0.99985916 -0.01674605 -0.01277571] [ 0.01070483 0.01673326 0.99980268 0.40661731] [ 0. 0. 0. 1. ]] SLAMing on 5.642557844 meters Centerline goodness : 0.480112 with order 1 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.02, Z:0.41 [[ 9.99943410e-01 2.13045962e-04 -1.06362995e-02 -1.02980950e+00] [-3.67326807e-04 9.99894725e-01 -1.45052786e-02 -2.07483200e-02] [ 1.06320894e-02 1.45083647e-02 9.99838220e-01 4.11337748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702557844 meters Centerline goodness : 0.480290 with order 1 Centerline is valid? [False, False] Translation: X:-1.11, Y:-0.04, Z:0.43 [[ 0.99990427 0.00780043 -0.01142858 -1.10831864] [-0.00798187 0.99984145 -0.01591738 -0.03540367] [ 0.0113026 0.01600707 0.99980799 0.42979931] [ 0. 0. 0. 1. ]] SLAMing on 5.762557844 meters Centerline goodness : 0.083386 with order 1 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:0.44 [[ 0.99991144 0.00840531 -0.01031818 -1.11797076] [-0.00855876 0.99985208 -0.0149189 -0.04137199] [ 0.01019125 0.01500589 0.99983547 0.4384446 ] [ 0. 0. 0. 1. ]] SLAMing on 5.822557843999999 meters Centerline goodness : 0.089871 with order 1 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.04, Z:0.45 [[ 0.99992794 0.0069358 -0.00979816 -1.12469525] [-0.00709256 0.99984595 -0.01605529 -0.04499105] [ 0.0096853 0.01612362 0.9998231 0.44533317] [ 0. 0. 0. 1. ]] SLAMing on 5.882557844 meters Centerline goodness : 0.091452 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.06, Z:0.46 [[ 0.99987075 0.00119226 -0.01603303 -1.15741061] [-0.00139633 0.99991808 -0.01272312 -0.06135198] [ 0.01601655 0.01274387 0.99979051 0.46318276] [ 0. 0. 0. 1. ]] SLAMing on 5.9425578439999995 meters Centerline goodness : 0.096649 with order 1 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.07, Z:0.47 [[ 9.99863354e-01 -1.24053729e-03 -1.64843553e-02 -1.16026763e+00] [ 1.01105044e-03 9.99902566e-01 -1.39225423e-02 -7.10289433e-02] [ 1.65000206e-02 1.39039734e-02 9.99767187e-01 4.68771587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002557844 meters Centerline goodness : 0.095249 with order 1 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.08, Z:0.48 [[ 0.99987321 -0.00325085 -0.0155885 -1.16776393] [ 0.00301176 0.99987785 -0.01533653 -0.07636559] [ 0.01563645 0.01528764 0.99976087 0.47521774] [ 0. 0. 0. 1. ]] SLAMing on 6.062557844 meters Centerline goodness : 0.096579 with order 1 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.08, Z:0.49 [[ 0.99985215 -0.00433129 -0.0166408 -1.22433496] [ 0.0040869 0.99988371 -0.01469252 -0.08471291] [ 0.0167025 0.01462234 0.99975358 0.48820858] [ 0. 0. 0. 1. ]] SLAMing on 6.122557844 meters Centerline goodness : 0.103380 with order 1 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.09, Z:0.50 [[ 0.99985098 -0.00638458 -0.01603898 -1.23145822] [ 0.00612461 0.99984992 -0.01620549 -0.08908224] [ 0.01614004 0.01610484 0.99974003 0.49572255] [ 0. 0. 0. 1. ]] SLAMing on 6.182557844 meters Centerline goodness : 0.098023 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.10, Z:0.51 [[ 0.99982173 -0.00714016 -0.01747954 -1.28605437] [ 0.00686824 0.99985523 -0.01556733 -0.09600628] [ 0.01758816 0.01544451 0.99972602 0.50768499] [ 0. 0. 0. 1. ]] SLAMing on 6.242557844 meters Centerline goodness : 0.101074 with order 1 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.10, Z:0.51 [[ 0.99982157 -0.00610001 -0.01787771 -1.28829771] [ 0.00584776 0.99988309 -0.01412829 -0.09998956] [ 0.0179618 0.01402122 0.99974036 0.5123819 ] [ 0. 0. 0. 1. ]] SLAMing on 6.302557844 meters Centerline goodness : 0.107408 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.10, Z:0.52 [[ 0.9998341 -0.00599895 -0.01719868 -1.29943806] [ 0.00576656 0.99989183 -0.01353021 -0.10311882] [ 0.01727799 0.01342879 0.99976054 0.52465336] [ 0. 0. 0. 1. ]] SLAMing on 6.3625578439999995 meters Centerline goodness : 0.110251 with order 1 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.11, Z:0.53 [[ 0.99983144 -0.00812452 -0.01646452 -1.30658145] [ 0.00787566 0.99985461 -0.01512415 -0.10758008] [ 0.016585 0.01499194 0.99975006 0.53134589] [ 0. 0. 0. 1. ]] SLAMing on 6.422557844 meters Centerline goodness : 0.108657 with order 1 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.11, Z:0.54 [[ 0.99982402 -0.01025569 -0.01570856 -1.31352222] [ 0.00999172 0.99980909 -0.01679157 -0.11146129] [ 0.01587777 0.01663165 0.99973561 0.53748168] [ 0. 0. 0. 1. ]] SLAMing on 6.482557844 meters Centerline goodness : 0.113034 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.12, Z:0.55 [[ 0.99979327 -0.01012802 -0.01763055 -1.36884905] [ 0.00986203 0.99983722 -0.01510897 -0.11821336] [ 0.0177807 0.01493197 0.99973041 0.54953228] [ 0. 0. 0. 1. ]] SLAMing on 6.542557844 meters Centerline goodness : 0.121437 with order 1 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.13, Z:0.56 [[ 0.99979752 -0.00863198 -0.01817737 -1.37296788] [ 0.0084024 0.99988444 -0.01266904 -0.12835679] [ 0.01828463 0.01251375 0.99975451 0.5575413 ] [ 0. 0. 0. 1. ]] SLAMing on 6.602557844 meters Centerline goodness : 0.117842 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.14, Z:0.56 [[ 0.99978629 -0.01029063 -0.01792964 -1.37865043] [ 0.0100455 0.99985557 -0.01370835 -0.13668304] [ 0.01806811 0.0135253 0.99974527 0.56412487] [ 0. 0. 0. 1. ]] SLAMing on 6.662557844 meters Centerline goodness : 0.119835 with order 1 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.14, Z:0.57 [[ 0.99978269 -0.00975064 -0.0184257 -1.37852697] [ 0.00952049 0.99987608 -0.01253742 -0.1425737 ] [ 0.01854566 0.01235927 0.99975162 0.56651223] [ 0. 0. 0. 1. ]] SLAMing on 6.722557844 meters Centerline goodness : 0.121157 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.16, Z:0.58 [[ 0.99983011 -0.00468745 -0.01782625 -1.45880572] [ 0.00446047 0.99990875 -0.01275157 -0.15586471] [ 0.01788439 0.01266989 0.99975978 0.58282348] [ 0. 0. 0. 1. ]] SLAMing on 6.782557843999999 meters Centerline goodness : 0.122881 with order 1 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.16, Z:0.59 [[ 0.99984991 -0.00406005 -0.01684235 -1.47018922] [ 0.00386196 0.99992319 -0.01177694 -0.16206246] [ 0.01688887 0.01171013 0.9997888 0.59414757] [ 0. 0. 0. 1. ]] SLAMing on 6.842557844 meters Centerline goodness : 0.119633 with order 3 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.17, Z:0.60 [[ 0.99984425 -0.00370522 -0.01725554 -1.46982175] [ 0.00351608 0.99993355 -0.01097896 -0.16639693] [ 0.01729507 0.01091658 0.99979083 0.59547779] [ 0. 0. 0. 1. ]] SLAMing on 6.9025578439999995 meters Centerline goodness : 0.123553 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.18, Z:0.61 [[ 0.99980155 -0.00479534 -0.01933546 -1.52552598] [ 0.00460401 0.99994012 -0.00992769 -0.17636782] [ 0.01938191 0.0098367 0.99976376 0.60881064] [ 0. 0. 0. 1. ]] SLAMing on 6.962557844 meters Centerline goodness : 0.130372 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.18, Z:0.62 [[ 0.99979755 -0.0067752 -0.01894589 -1.53215928] [ 0.00656769 0.999918 -0.0109938 -0.18354771] [ 0.01901882 0.01086715 0.99976007 0.61651825] [ 0. 0. 0. 1. ]] SLAMing on 7.022557844 meters Centerline goodness : 0.128210 with order 1 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.19, Z:0.62 [[ 0.99979092 -0.00636799 -0.01943078 -1.53289072] [ 0.0061781 0.99993272 -0.00981717 -0.19036468] [ 0.01949198 0.00969508 0.99976301 0.61995881] [ 0. 0. 0. 1. ]] SLAMing on 7.082557844 meters Centerline goodness : 0.127520 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.19, Z:0.63 [[ 0.99981466 -0.00600751 -0.01829111 -1.54535715] [ 0.00584624 0.99994368 -0.00885775 -0.19492388] [ 0.01834329 0.00874917 0.99979347 0.63214304] [ 0. 0. 0. 1. ]] SLAMing on 7.142557844 meters Centerline goodness : 0.128359 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.20, Z:0.64 [[ 0.99980821 -0.00575118 -0.01872101 -1.54576524] [ 0.00559611 0.99994969 -0.00832505 -0.19747188] [ 0.01876795 0.00821869 0.99979009 0.63512161] [ 0. 0. 0. 1. ]] SLAMing on 7.202557843999999 meters Centerline goodness : 0.131111 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.20, Z:0.64 [[ 0.99980948 -0.00750217 -0.01801992 -1.55382228] [ 0.00732832 0.99992616 -0.00969426 -0.20052688] [ 0.01809132 0.00956035 0.99979063 0.64352193] [ 0. 0. 0. 1. ]] SLAMing on 7.262557844 meters Centerline goodness : 0.138622 with order 1 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.20, Z:0.65 [[ 0.99980255 -0.00721108 -0.0185165 -1.55370481] [ 0.00704438 0.99993422 -0.00905198 -0.20365108] [ 0.01858055 0.00891975 0.99978758 0.64582801] [ 0. 0. 0. 1. ]] SLAMing on 7.322557843999999 meters Centerline goodness : 0.133201 with order 1 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:0.66 [[ 9.99791198e-01 2.99614829e-04 -2.04321109e-02 -1.58244933e+00] [-4.90217001e-04 9.99956409e-01 -9.32418947e-03 -2.15262185e-01] [ 2.04284266e-02 9.33225872e-03 9.99747762e-01 6.55626979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382557844 meters Centerline goodness : 0.136514 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.22, Z:0.66 [[ 0.9997943 0.00212759 -0.02017006 -1.58816225] [-0.00226817 0.99997328 -0.00694943 -0.22082902] [ 0.02015473 0.00699375 0.99977241 0.66251645] [ 0. 0. 0. 1. ]] SLAMing on 7.4425578439999995 meters Centerline goodness : 0.136665 with order 1 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.22, Z:0.67 [[ 9.99807291e-01 3.21534551e-04 -1.96284898e-02 -1.59490183e+00] [-4.91799040e-04 9.99962293e-01 -8.67014431e-03 -2.21289940e-01] [ 1.96249619e-02 8.67812676e-03 9.99769749e-01 6.69270652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502557844 meters Centerline goodness : 0.136949 with order 1 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.23, Z:0.68 [[ 0.99983408 0.00535121 -0.01741194 -1.62293971] [-0.00551512 0.9999408 -0.00937942 -0.23415511] [ 0.01736072 0.0094739 0.99980441 0.67723534] [ 0. 0. 0. 1. ]] SLAMing on 7.562557844 meters Centerline goodness : 0.131710 with order 3 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.24, Z:0.68 [[ 0.99985047 0.00343313 -0.01694858 -1.62883583] [-0.00361979 0.999933 -0.01099523 -0.23647091] [ 0.01690969 0.01105494 0.9997959 0.68297287] [ 0. 0. 0. 1. ]] SLAMing on 7.622557844 meters Centerline goodness : 0.130310 with order 3 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.24, Z:0.69 [[ 9.99867252e-01 1.17666603e-03 -1.62509602e-02 -1.63553312e+00] [-1.38361957e-03 9.99918020e-01 -1.27294839e-02 -2.40828901e-01] [ 1.62346496e-02 1.27502792e-02 9.99786911e-01 6.89166475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682557844 meters Centerline goodness : 0.130003 with order 3 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.25, Z:0.70 [[ 9.99873558e-01 -3.69725751e-04 -1.58975108e-02 -1.64315295e+00] [ 1.59819648e-04 9.99912824e-01 -1.32029525e-02 -2.49282625e-01] [ 1.59010064e-02 1.31987423e-02 9.99786453e-01 6.98184435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742557843999999 meters Centerline goodness : 0.131679 with order 3 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.26, Z:0.71 [[ 0.99987446 -0.0026789 -0.01561708 -1.64876147] [ 0.00245192 0.99989135 -0.01453544 -0.25773885] [ 0.01565432 0.01449532 0.99977239 0.70502383] [ 0. 0. 0. 1. ]] SLAMing on 7.802557844 meters Centerline goodness : 0.129985 with order 3 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.27, Z:0.72 [[ 0.99988861 -0.00326277 -0.01456419 -1.65997702] [ 0.00305543 0.999894 -0.01423596 -0.26596645] [ 0.01460909 0.01418987 0.99979259 0.71647929] [ 0. 0. 0. 1. ]] SLAMing on 7.8625578439999995 meters Centerline goodness : 0.142495 with order 3 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.27, Z:0.73 [[ 0.99983904 -0.00233236 -0.01778926 -1.71557572] [ 0.00210979 0.99991939 -0.01252018 -0.27301366] [ 0.01781703 0.01248063 0.99976337 0.73159807] [ 0. 0. 0. 1. ]] SLAMing on 7.922557844 meters Centerline goodness : 0.142474 with order 3 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.27, Z:0.73 [[ 0.99981754 0.00192518 -0.01900459 -1.71475402] [-0.00208555 0.99996236 -0.00842232 -0.2742702 ] [ 0.01898766 0.00846042 0.99978392 0.7349384 ] [ 0. 0. 0. 1. ]] SLAMing on 7.982557844 meters Centerline goodness : 0.141598 with order 3 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.28, Z:0.75 [[ 0.99978434 0.00994721 -0.01823004 -1.74755337] [-0.01008515 0.99992109 -0.00749028 -0.28250042] [ 0.0181541 0.00767252 0.99980576 0.7478504 ] [ 0. 0. 0. 1. ]] SLAMing on 8.042557844 meters Centerline goodness : 0.177099 with order 3 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.29, Z:0.75 [[ 0.99981656 0.00775353 -0.01751344 -1.75472883] [-0.00791646 0.99992585 -0.00925355 -0.28554981] [ 0.01744039 0.00939049 0.99980381 0.75469512] [ 0. 0. 0. 1. ]] SLAMing on 8.102557844 meters Centerline goodness : 0.151820 with order 3 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.28, Z:0.76 [[ 9.99882771e-01 7.17805783e-04 -1.52947147e-02 -1.73529101e+00] [-8.27315588e-04 9.99974061e-01 -7.15485326e-03 -2.84839156e-01] [ 1.52891822e-02 7.16666806e-03 9.99857430e-01 7.58832421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162557844 meters Centerline goodness : 0.149833 with order 3 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.29, Z:0.78 [[ 0.99986347 -0.00236527 -0.016354 -1.79686818] [ 0.00223938 0.99996776 -0.00771162 -0.2918894 ] [ 0.01637172 0.00767395 0.99983653 0.77679177] [ 0. 0. 0. 1. ]] SLAMing on 8.222557843999999 meters Centerline goodness : 0.152023 with order 3 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.29, Z:0.78 [[ 0.99985184 -0.00222431 -0.01706892 -1.7965676 ] [ 0.00209791 0.99997028 -0.00741935 -0.29260537] [ 0.01708491 0.00738244 0.99982679 0.77943361] [ 0. 0. 0. 1. ]] SLAMing on 8.282557844 meters Centerline goodness : 0.152181 with order 3 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.29, Z:0.79 [[ 0.99985075 -0.00438666 -0.01671049 -1.80258639] [ 0.00422813 0.99994584 -0.00951014 -0.29084087] [ 0.0167513 0.00943807 0.99981514 0.78600415] [ 0. 0. 0. 1. ]] SLAMing on 8.342557844 meters Centerline goodness : 0.152937 with order 3 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.29, Z:0.79 [[ 0.99986949 -0.00439416 -0.01554642 -1.81222601] [ 0.00425247 0.99994923 -0.00913555 -0.29028908] [ 0.01558577 0.00906825 0.99983741 0.79478784] [ 0. 0. 0. 1. ]] SLAMing on 8.402557844 meters Centerline goodness : 0.155016 with order 3 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.29, Z:0.80 [[ 0.99986832 -0.0067947 -0.01473712 -1.8195038 ] [ 0.00662883 0.99991447 -0.01127466 -0.29035539] [ 0.01481247 0.01117549 0.99982783 0.80156267] [ 0. 0. 0. 1. ]] SLAMing on 8.462557843999999 meters Centerline goodness : 0.255031 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.29, Z:0.81 [[ 0.99984348 -0.00960317 -0.01485902 -1.82346066] [ 0.00940151 0.99986355 -0.01358253 -0.29243379] [ 0.01498743 0.01344071 0.99979734 0.80708064] [ 0. 0. 0. 1. ]] SLAMing on 8.522557844 meters Centerline goodness : 0.156486 with order 3 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.30, Z:0.81 [[ 0.99984948 -0.00954442 -0.0144884 -1.82790691] [ 0.00936389 0.99987831 -0.01247702 -0.29795102] [ 0.01460572 0.01233947 0.99981719 0.81243108] [ 0. 0. 0. 1. ]] SLAMing on 8.582557844 meters Centerline goodness : 0.163186 with order 3 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.30, Z:0.82 [[ 0.99972194 -0.02090651 -0.01090698 -1.81315566] [ 0.02075553 0.99968966 -0.01377652 -0.30108319] [ 0.01119162 0.01354631 0.99984561 0.81903307] [ 0. 0. 0. 1. ]] SLAMing on 8.642557844 meters Centerline goodness : 0.165533 with order 3 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.31, Z:0.82 [[ 0.99973145 -0.0203195 -0.01114186 -1.81491259] [ 0.02018578 0.9997244 -0.01198588 -0.3092055 ] [ 0.01138234 0.01175775 0.99986609 0.8228369 ] [ 0. 0. 0. 1. ]] SLAMing on 8.702557844 meters Centerline goodness : 0.165059 with order 3 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.32, Z:0.83 [[ 0.99966818 -0.02297042 -0.01165755 -1.81836716] [ 0.02281089 0.99964678 -0.0136373 -0.31854219] [ 0.01196668 0.01336686 0.99983905 0.83001121] [ 0. 0. 0. 1. ]] SLAMing on 8.762557844 meters Centerline goodness : 0.094095 with order 1 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.33, Z:0.84 [[ 0.99969627 -0.02131715 -0.01236718 -1.82129288] [ 0.02118155 0.9997152 -0.01099342 -0.32758161] [ 0.012598 0.01072813 0.99986309 0.83686526] [ 0. 0. 0. 1. ]] SLAMing on 8.822557844 meters Centerline goodness : 0.148033 with order 3 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.34, Z:0.84 [[ 0.99980132 -0.01792708 -0.00871485 -1.84510257] [ 0.01781575 0.99976078 -0.0126881 -0.33686395] [ 0.00894023 0.01253032 0.99988152 0.84055826] [ 0. 0. 0. 1. ]] SLAMing on 8.882557843999999 meters Centerline goodness : 0.270808 with order 1 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.34, Z:0.85 [[ 0.99977015 -0.01992501 -0.00791416 -1.85199313] [ 0.01981035 0.99970132 -0.01431151 -0.33983889] [ 0.00819696 0.01415144 0.99986626 0.84725066] [ 0. 0. 0. 1. ]] SLAMing on 8.942557844 meters Centerline goodness : 0.098004 with order 1 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.35, Z:0.85 [[ 0.99973036 -0.02199612 -0.00744198 -1.85823281] [ 0.02187785 0.99963867 -0.01561714 -0.3454967 ] [ 0.00778281 0.01545011 0.99985035 0.8544917 ] [ 0. 0. 0. 1. ]] SLAMing on 9.002557844 meters Centerline goodness : 0.169487 with order 3 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.36, Z:0.86 [[ 0.99988211 -0.01387857 -0.00656859 -1.84153882] [ 0.0137684 0.99976858 -0.01652917 -0.35537176] [ 0.00679647 0.01643678 0.99984181 0.85855377] [ 0. 0. 0. 1. ]] SLAMing on 9.062557844 meters Centerline goodness : 0.288441 with order 3 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.36, Z:0.87 [[ 0.99985146 -0.01617239 -0.00595854 -1.84774683] [ 0.01606148 0.99970509 -0.01821428 -0.359977 ] [ 0.00625135 0.01811587 0.99981635 0.86504445] [ 0. 0. 0. 1. ]] SLAMing on 9.122557844 meters Centerline goodness : 0.171992 with order 3 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.37, Z:0.87 [[ 0.99980976 -0.01851759 -0.00612786 -1.85320135] [ 0.0183941 0.99963809 -0.01963017 -0.36665139] [ 0.00648915 0.01951372 0.99978853 0.87362221] [ 0. 0. 0. 1. ]] SLAMing on 9.182557844 meters Centerline goodness : 0.256700 with order 1 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.38, Z:0.88 [[ 0.99992466 -0.0108037 -0.00582651 -1.83851435] [ 0.01068063 0.99972752 -0.0207559 -0.37608404] [ 0.00604916 0.02069211 0.9997676 0.87882208] [ 0. 0. 0. 1. ]] SLAMing on 9.242557844 meters Centerline goodness : 0.148235 with order 3 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.38, Z:0.89 [[ 0.99991032 -0.0123791 -0.0051088 -1.84665823] [ 0.01226332 0.99968046 -0.02210406 -0.38112384] [ 0.00538079 0.02203943 0.99974262 0.88813306] [ 0. 0. 0. 1. ]] SLAMing on 9.302557843999999 meters Centerline goodness : 0.136275 with order 1 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.39, Z:0.89 [[ 0.99998478 -0.00462152 -0.00301337 -1.83110378] [ 0.00454813 0.99970347 -0.02392257 -0.38811469] [ 0.00312303 0.0239085 0.99970927 0.89155326] [ 0. 0. 0. 1. ]] SLAMing on 9.362557844 meters Centerline goodness : 0.266981 with order 1 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.39, Z:0.90 [[ 0.99998707 -0.00429746 -0.00271987 -1.83520769] [ 0.00423319 0.99972165 -0.02321018 -0.39103761] [ 0.00281885 0.02319837 0.99972691 0.89619916] [ 0. 0. 0. 1. ]] SLAMing on 9.422557844 meters Centerline goodness : 0.098446 with order 1 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.39, Z:0.91 [[ 9.99981728e-01 -6.02441060e-03 -4.99911900e-04 -1.84882633e+00] [ 6.00988883e-03 9.99663908e-01 -2.52180908e-02 -3.92531362e-01] [ 6.51668018e-04 2.52146256e-02 9.99681848e-01 9.08547477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482557844 meters Centerline goodness : 0.273202 with order 1 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.39, Z:0.92 [[ 9.99983445e-01 -5.75332137e-03 -1.00037079e-04 -1.85419540e+00] [ 5.74891212e-03 9.99659581e-01 -2.54494181e-02 -3.92025465e-01] [ 2.46421705e-04 2.54484216e-02 9.99676106e-01 9.15581170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542557844 meters Centerline goodness : 0.263589 with order 1 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.39, Z:0.92 [[ 9.99984965e-01 -5.47713184e-03 2.64666015e-04 -1.86079959e+00] [ 5.48205711e-03 9.99668399e-01 -2.51602543e-02 -3.93900080e-01] [-1.26772221e-04 2.51613270e-02 9.99683396e-01 9.23746574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602557844 meters Centerline goodness : 0.260882 with order 1 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.39, Z:0.93 [[ 9.99986339e-01 -5.20242786e-03 5.07312819e-04 -1.86657766e+00] [ 5.21362165e-03 9.99664719e-01 -2.53627338e-02 -3.93579428e-01] [-3.75194933e-04 2.53650322e-02 9.99678185e-01 9.31821315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662557844 meters Centerline goodness : 0.138979 with order 1 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.39, Z:0.94 [[ 9.99996618e-01 -2.59753477e-03 -1.28584228e-04 -1.86777639e+00] [ 2.59384403e-03 9.99726438e-01 -2.32448232e-02 -3.91147119e-01] [ 1.88928289e-04 2.32444111e-02 9.99729794e-01 9.36025725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722557843999999 meters Centerline goodness : 0.101067 with order 1 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.39, Z:0.94 [[ 9.99996243e-01 -2.69138466e-03 -5.19623016e-04 -1.86857214e+00] [ 2.67847015e-03 9.99721839e-01 -2.34322599e-02 -3.88433326e-01] [ 5.82543702e-04 2.34307800e-02 9.99725292e-01 9.39101141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782557844 meters Centerline goodness : 0.106340 with order 1 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.39, Z:0.94 [[ 9.99997738e-01 -2.05299042e-03 -5.55938991e-04 -1.87264257e+00] [ 2.03982741e-03 9.99739693e-01 -2.27241210e-02 -3.86000298e-01] [ 6.02446679e-04 2.27229356e-02 9.99741619e-01 9.44983204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842557844 meters Centerline goodness : 0.108123 with order 1 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.38, Z:0.95 [[ 9.99999591e-01 -9.03227480e-04 -3.70596567e-05 -1.87812455e+00] [ 9.02214317e-04 9.99765542e-01 -2.16343902e-02 -3.83762206e-01] [ 5.65917435e-05 2.16343479e-02 9.99765949e-01 9.50626735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902557844 meters Centerline goodness : 0.111219 with order 1 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.37, Z:0.96 [[ 9.99999164e-01 5.15847001e-04 1.18586190e-03 -1.88604467e+00] [-4.90630469e-04 9.99775831e-01 -2.11671405e-02 -3.73529426e-01] [-1.19651507e-03 2.11665410e-02 9.99775248e-01 9.57797032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962557843999999 meters Centerline goodness : 0.107175 with order 1 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.37, Z:0.96 [[ 0.99999492 0.00205318 0.00243905 -1.89299462] [-0.00200378 0.99979628 -0.02008422 -0.36706177] [-0.00247979 0.02007923 0.99979532 0.96310656] [ 0. 0. 0. 1. ]] SLAMing on 10.022557844 meters Centerline goodness : 0.107579 with order 1 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.36, Z:0.97 [[ 0.99996216 -0.00272988 0.00825973 -1.91974825] [ 0.00289691 0.99979018 -0.0202782 -0.35598003] [-0.00820264 0.02030136 0.99976026 0.97021304] [ 0. 0. 0. 1. ]] SLAMing on 10.082557844 meters Centerline goodness : 0.109527 with order 1 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.35, Z:0.97 [[ 0.99996165 -0.00216891 0.00848446 -1.92367997] [ 0.00233524 0.99980432 -0.01964362 -0.35294607] [-0.0084402 0.01966268 0.99977104 0.97484553] [ 0. 0. 0. 1. ]] SLAMing on 10.142557843999999 meters Centerline goodness : 0.097499 with order 1 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.35, Z:0.98 [[ 9.99957418e-01 -1.03524808e-03 9.17010558e-03 -1.92889137e+00] [ 1.20764585e-03 9.99822264e-01 -1.88144341e-02 -3.48697897e-01] [-9.14899811e-03 1.88247072e-02 9.99780939e-01 9.79467293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202557844 meters Centerline goodness : 0.095067 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.34, Z:0.99 [[ 0.99993673 0.00392252 0.01054295 -1.93627825] [-0.00376818 0.99988603 -0.01461966 -0.34093755] [-0.01059909 0.01457901 0.99983754 0.98529382] [ 0. 0. 0. 1. ]] SLAMing on 10.262557844 meters Centerline goodness : 0.106355 with order 1 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.34, Z:0.99 [[ 0.99993366 0.00371488 0.01090338 -1.93787226] [-0.00354784 0.99987665 -0.01529993 -0.33702858] [-0.01095888 0.01526023 0.9998235 0.98669971] [ 0. 0. 0. 1. ]] SLAMing on 10.322557844 meters Centerline goodness : 0.103834 with order 1 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.33, Z:0.99 [[ 0.99990739 0.00502126 0.0126487 -1.9458304 ] [-0.00483501 0.99988007 -0.01471273 -0.3287435 ] [-0.01272106 0.01465021 0.99981176 0.9917797 ] [ 0. 0. 0. 1. ]] SLAMing on 10.382557843999999 meters Centerline goodness : 0.088718 with order 3 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.32, Z:0.99 [[ 0.99990867 -0.00288931 0.01320226 -1.97022292] [ 0.0030603 0.99991147 -0.01294953 -0.32015823] [-0.01316368 0.01298875 0.99982899 0.99454162] [ 0. 0. 0. 1. ]] SLAMing on 10.442557844 meters Centerline goodness : 0.094465 with order 1 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.32, Z:1.00 [[ 0.99990206 -0.00325061 0.0136126 -1.97241069] [ 0.00343158 0.99990576 -0.01329233 -0.31805729] [-0.01356811 0.01333774 0.99981899 0.99668211] [ 0. 0. 0. 1. ]] SLAMing on 10.502557844 meters Centerline goodness : 0.098279 with order 1 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.31, Z:1.00 [[ 0.9998569 -0.0042073 0.01638552 -1.98379198] [ 0.00444237 0.99988737 -0.01433595 -0.31436844] [-0.01632336 0.01440669 0.99976297 1.00350516] [ 0. 0. 0. 1. ]] SLAMing on 10.562557843999999 meters Centerline goodness : 0.093442 with order 1 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.31, Z:1.00 [[ 0.99985148 -0.00440798 0.01666097 -1.98469482] [ 0.00464907 0.99988465 -0.01445951 -0.31374713] [-0.01659532 0.01453482 0.99975664 1.00375024] [ 0. 0. 0. 1. ]] SLAMing on 10.622557844 meters Centerline goodness : 0.094671 with order 1 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.31, Z:1.01 [[ 0.99982442 -0.00284168 0.01852157 -1.99345045] [ 0.00308296 0.99991059 -0.01301161 -0.31199515] [-0.01848294 0.01306643 0.99974379 1.00951675] [ 0. 0. 0. 1. ]] SLAMing on 10.682557844 meters Centerline goodness : 0.341413 with order 3 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.31, Z:1.01 [[ 9.99794979e-01 -1.11218017e-03 2.02178820e-02 -2.00106652e+00] [ 1.34629519e-03 9.99932163e-01 -1.15696813e-02 -3.09354625e-01] [-2.02036429e-02 1.15945285e-02 9.99728653e-01 1.01420437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742557844 meters Centerline goodness : 0.124528 with order 3 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.31, Z:1.02 [[ 9.99761668e-01 3.83267867e-04 2.18279840e-02 -2.00764429e+00] [-1.54275123e-04 9.99944951e-01 -1.04915055e-02 -3.06394188e-01] [-2.18308034e-02 1.04856375e-02 9.99706691e-01 1.01767588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802557843999999 meters Centerline goodness : 0.153035 with order 1 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.30, Z:1.02 [[ 0.99960462 -0.00342926 0.02790788 -2.03620413] [ 0.00364832 0.99996291 -0.00780211 -0.2975835 ] [-0.02788009 0.00790084 0.99958005 1.02072959] [ 0. 0. 0. 1. ]] SLAMing on 10.862557844 meters Centerline goodness : 0.098204 with order 1 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.30, Z:1.02 [[ 0.99958663 -0.00367286 0.02851452 -2.03851824] [ 0.00391108 0.99995788 -0.00830309 -0.29505098] [-0.02848282 0.00841118 0.99955889 1.02254675] [ 0. 0. 0. 1. ]] SLAMing on 10.922557844 meters Centerline goodness : 0.139300 with order 3 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.29, Z:1.02 [[ 0.99930777 -0.00270947 0.03710323 -2.08438511] [ 0.00298971 0.99996741 -0.00749938 -0.28535548] [-0.0370817 0.00760511 0.9992833 1.02299385] [ 0. 0. 0. 1. ]] SLAMing on 10.982557844 meters Centerline goodness : 0.360282 with order 3 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.28, Z:1.03 [[ 9.99220272e-01 -1.04113233e-03 3.94685195e-02 -2.09264038e+00] [ 1.29811596e-03 9.99978123e-01 -6.48603574e-03 -2.77855170e-01] [-3.94609033e-02 6.53221311e-03 9.99199763e-01 1.02679892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042557844 meters Centerline goodness : 0.211634 with order 3 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.27, Z:1.03 [[ 9.99144020e-01 5.54435116e-04 4.13632648e-02 -2.09953324e+00] [-3.29196999e-04 9.99985084e-01 -5.45197855e-03 -2.71043196e-01] [-4.13656706e-02 5.43369511e-03 9.99129299e-01 1.02996176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102557844 meters Centerline goodness : 0.191678 with order 1 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.26, Z:1.03 [[ 0.99908644 0.0032441 0.04261186 -2.10340841] [-0.00307934 0.99998753 -0.00393167 -0.25770571] [-0.04262408 0.00379686 0.99908397 1.03161577] [ 0. 0. 0. 1. ]] SLAMing on 11.162557844 meters Centerline goodness : 0.336421 with order 3 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:1.04 [[ 9.99182778e-01 2.14023679e-03 4.03632901e-02 -2.15057058e+00] [-1.93197746e-03 9.99984624e-01 -5.19792296e-03 -2.45294987e-01] [-4.03737943e-02 5.11569414e-03 9.99171550e-01 1.03592284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222557843999999 meters Centerline goodness : 0.118397 with order 3 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.24, Z:1.04 [[ 0.9991524 0.00287138 0.04106391 -2.154158 ] [-0.00268446 0.99998579 -0.00460638 -0.23915333] [-0.04107656 0.00449224 0.9991459 1.03835816] [ 0. 0. 0. 1. ]] SLAMing on 11.282557844 meters Centerline goodness : 0.199830 with order 3 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.23, Z:1.04 [[ 0.9989575 -0.00649854 0.0451849 -2.18016773] [ 0.00680453 0.99995493 -0.00662147 -0.22721151] [-0.04513984 0.00692203 0.9989567 1.03990985] [ 0. 0. 0. 1. ]] SLAMing on 11.342557844 meters Centerline goodness : 0.206833 with order 1 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.22, Z:1.04 [[ 0.9989452 -0.00669249 0.04542801 -2.1811516 ] [ 0.00702285 0.99995002 -0.00711647 -0.22444843] [-0.04537812 0.007428 0.99894227 1.04057539] [ 0. 0. 0. 1. ]] SLAMing on 11.402557844 meters Centerline goodness : 0.201877 with order 3 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.22, Z:1.04 [[ 0.99892511 -0.00697284 0.04582589 -2.18240477] [ 0.00733691 0.99994281 -0.00778116 -0.22155098] [-0.04576902 0.00810902 0.99891914 1.0412078 ] [ 0. 0. 0. 1. ]] SLAMing on 11.462557843999999 meters Centerline goodness : 0.341208 with order 1 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.22, Z:1.04 [[ 0.99891406 -0.00339943 0.04646665 -2.18417674] [ 0.00359842 0.99998471 -0.00419944 -0.2198362 ] [-0.04645167 0.00436208 0.99891101 1.04145208] [ 0. 0. 0. 1. ]] SLAMing on 11.522557844 meters Centerline goodness : 0.142143 with order 3 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.22, Z:1.04 [[ 9.98857022e-01 -1.46736329e-03 4.77754733e-02 -2.18984306e+00] [ 1.59733910e-03 9.99995126e-01 -2.68249005e-03 -2.16429288e-01] [-4.77713043e-02 2.75573766e-03 9.98854498e-01 1.04481260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582557844 meters Centerline goodness : 0.207763 with order 1 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.21, Z:1.05 [[ 9.98806907e-01 7.95358113e-04 4.88275570e-02 -2.19437295e+00] [-7.60100160e-04 9.99999437e-01 -7.40655034e-04 -2.12786154e-01] [-4.88281186e-02 7.02657529e-04 9.98806949e-01 1.04733183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642557843999999 meters Centerline goodness : 0.217196 with order 1 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.21, Z:1.05 [[ 9.98486961e-01 1.23983907e-03 5.49750049e-02 -2.23914519e+00] [-1.18058140e-03 9.99998687e-01 -1.11036489e-03 -2.07992878e-01] [-5.49763093e-02 1.04378240e-03 9.98487114e-01 1.04678433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702557844 meters Centerline goodness : 0.178106 with order 3 Centerline is valid? [False, False] Translation: X:-2.24, Y:-0.21, Z:1.05 [[ 9.98462460e-01 1.18572932e-03 5.54194041e-02 -2.24051292e+00] [-1.13014611e-03 9.99998827e-01 -1.03428519e-03 -2.07995356e-01] [-5.54205655e-02 9.70062909e-04 9.98462628e-01 1.04759246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762557844 meters Centerline goodness : 0.204357 with order 1 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.21, Z:1.05 [[ 9.98441167e-01 -7.25889381e-03 5.53402528e-02 -2.26133854e+00] [ 7.26062036e-03 9.99973627e-01 1.69860018e-04 -2.05966382e-01] [-5.53400263e-02 2.32209332e-04 9.98467540e-01 1.04724640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822557844 meters Centerline goodness : 0.204440 with order 1 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.21, Z:1.05 [[ 9.98434119e-01 -1.26686639e-03 5.59258845e-02 -2.28627860e+00] [ 1.41273999e-03 9.99995703e-01 -2.56887942e-03 -2.08314817e-01] [-5.59223897e-02 2.64386560e-03 9.98431618e-01 1.04974391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882557843999999 meters Centerline goodness : 0.164526 with order 3 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.21, Z:1.05 [[ 9.98335015e-01 1.43545189e-04 5.76816921e-02 -2.29198226e+00] [-7.98726383e-05 9.99999385e-01 -1.10616466e-03 -2.10759754e-01] [-5.76818154e-02 1.09971572e-03 9.98334412e-01 1.05213213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942557844 meters Centerline goodness : 0.166889 with order 3 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.21, Z:1.06 [[ 9.98380283e-01 9.81487090e-04 5.68845145e-02 -2.33988719e+00] [-9.33778082e-04 9.99999190e-01 -8.65273607e-04 -2.06750506e-01] [-5.68853177e-02 8.10754595e-04 9.98380390e-01 1.05700799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002557844 meters Centerline goodness : 0.163785 with order 3 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.20, Z:1.06 [[ 9.98378935e-01 8.98517301e-04 5.69095368e-02 -2.33995823e+00] [-8.18170908e-04 9.99998636e-01 -1.43511054e-03 -2.03814771e-01] [-5.69107486e-02 1.38622240e-03 9.98378308e-01 1.05707172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062557843999999 meters Centerline goodness : 0.169416 with order 3 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.20, Z:1.06 [[ 9.98340242e-01 9.76002818e-03 5.67582841e-02 -2.36341199e+00] [-9.64198717e-03 9.99950746e-01 -2.35320104e-03 -2.00483955e-01] [-5.67784559e-02 1.80203265e-03 9.98385176e-01 1.05812409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122557844 meters Centerline goodness : 0.170177 with order 3 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.20, Z:1.06 [[ 0.99830594 0.00973802 0.05736218 -2.36506365] [-0.00956913 0.99994904 -0.00321825 -0.1951172 ] [-0.05739059 0.00266389 0.99834825 1.05870735] [ 0. 0. 0. 1. ]] SLAMing on 12.182557844 meters Centerline goodness : 0.170528 with order 3 Centerline is valid? [False, False] Translation: X:-2.38, Y:-0.19, Z:1.06 [[ 9.98390155e-01 1.46124550e-03 5.67006468e-02 -2.38483710e+00] [-1.33037939e-03 9.99996364e-01 -2.34569632e-03 -1.87573006e-01] [-5.67038683e-02 2.26648674e-03 9.98388469e-01 1.05939810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242557844 meters Centerline goodness : 0.145393 with order 3 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.18, Z:1.06 [[ 9.98411648e-01 -7.18490515e-03 5.58798623e-02 -2.40493497e+00] [ 7.29748472e-03 9.99971733e-01 -1.81087932e-03 -1.80480585e-01] [-5.58652718e-02 2.21578545e-03 9.98435858e-01 1.05942556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302557843999999 meters Centerline goodness : 0.304175 with order 3 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.18, Z:1.06 [[ 9.98505926e-01 1.38700140e-03 5.46259291e-02 -2.42686672e+00] [-1.24300321e-03 9.99995663e-01 -2.66996500e-03 -1.78331118e-01] [-5.46293954e-02 2.59807567e-03 9.98503320e-01 1.06102818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362557844 meters Centerline goodness : 0.193599 with order 1 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.18, Z:1.06 [[ 9.98504088e-01 1.19265032e-03 5.46640956e-02 -2.42706562e+00] [-1.01444417e-03 9.99994081e-01 -3.28765359e-03 -1.75511570e-01] [-5.46676931e-02 3.22728188e-03 9.98499388e-01 1.06132195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422557844 meters Centerline goodness : 0.145086 with order 3 Centerline is valid? [False, False] Translation: X:-2.43, Y:-0.17, Z:1.06 [[ 9.98520911e-01 1.00794448e-03 5.43596825e-02 -2.42593459e+00] [-8.09917406e-04 9.99992957e-01 -3.66481012e-03 -1.73610514e-01] [-5.43629936e-02 3.61536268e-03 9.98514694e-01 1.06042231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482557844 meters Centerline goodness : 0.190695 with order 1 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.17, Z:1.06 [[ 9.98451429e-01 7.91620209e-04 5.56247834e-02 -2.46803949e+00] [-5.70646200e-04 9.99991884e-01 -3.98835296e-03 -1.68684181e-01] [-5.56274892e-02 3.95043464e-03 9.98443777e-01 1.06063184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542557844 meters Centerline goodness : 0.194342 with order 1 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.17, Z:1.06 [[ 9.98450774e-01 5.93202335e-04 5.56390125e-02 -2.46790538e+00] [-3.42559354e-04 9.99989752e-01 -4.51423548e-03 -1.66303444e-01] [-5.56411202e-02 4.48818224e-03 9.98440745e-01 1.06031065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602557844 meters Centerline goodness : 0.144113 with order 3 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.16, Z:1.06 [[ 0.99845639 -0.00836324 0.05490805 -2.48875625] [ 0.00860581 0.99995422 -0.00418275 -0.15854703] [-0.05487055 0.00464882 0.99848265 1.06059726] [ 0. 0. 0. 1. ]] SLAMing on 12.662557844 meters Centerline goodness : 0.171580 with order 3 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.16, Z:1.06 [[ 0.99844474 -0.00926625 0.05497491 -2.48874744] [ 0.00952147 0.99994507 -0.00438225 -0.15989998] [-0.05493129 0.00489888 0.99847812 1.06008856] [ 0. 0. 0. 1. ]] SLAMing on 12.722557843999999 meters Centerline goodness : 0.186247 with order 1 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.16, Z:1.06 [[ 0.99859208 -0.00382818 0.05290758 -2.511421 ] [ 0.00428976 0.9999537 -0.00861345 -0.16106702] [-0.05287215 0.00882828 0.99856226 1.06197994] [ 0. 0. 0. 1. ]] SLAMing on 12.782557844 meters Centerline goodness : 0.155091 with order 3 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.16, Z:1.06 [[ 9.98585405e-01 -7.72022778e-04 5.31657201e-02 -2.51302408e+00] [ 1.05703127e-03 9.99985222e-01 -5.33284658e-03 -1.60237636e-01] [-5.31608173e-02 5.38150059e-03 9.98571463e-01 1.06318813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842557844 meters Centerline goodness : 0.155059 with order 3 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.16, Z:1.07 [[ 9.98523268e-01 2.35752270e-03 5.42745334e-02 -2.51709499e+00] [-2.25110793e-03 9.99995423e-01 -2.02172641e-03 -1.58952067e-01] [-5.42790512e-02 1.89656303e-03 9.98524005e-01 1.06560863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902557844 meters Centerline goodness : 0.179478 with order 1 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.15, Z:1.07 [[ 9.98491017e-01 -6.42084033e-03 5.45386235e-02 -2.53938305e+00] [ 6.52075174e-03 9.99977371e-01 -1.65418564e-03 -1.53214959e-01] [-5.45267682e-02 2.00732232e-03 9.98510291e-01 1.06711859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962557843999999 meters Centerline goodness : 0.175943 with order 1 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.16, Z:1.07 [[ 9.98519852e-01 -6.45332802e-03 5.40042507e-02 -2.53796395e+00] [ 6.52438076e-03 9.99978067e-01 -1.13948877e-03 -1.55996551e-01] [-5.39957127e-02 1.49014645e-03 9.98540056e-01 1.06658019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022557844 meters Centerline goodness : 0.153050 with order 3 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.16, Z:1.07 [[ 9.98561070e-01 -6.40089004e-03 5.32430186e-02 -2.53593928e+00] [ 6.43722173e-03 9.99979150e-01 -5.10910803e-04 -1.59022622e-01] [-5.32386382e-02 8.52912754e-04 9.98581454e-01 1.06593539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082557844 meters Centerline goodness : 0.136136 with order 3 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.16, Z:1.07 [[ 9.98552813e-01 -6.28606058e-03 5.34112785e-02 -2.53659823e+00] [ 6.28890115e-03 9.99980218e-01 1.14887602e-04 -1.62135114e-01] [-5.34109442e-02 2.21176913e-04 9.98572592e-01 1.06642624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142557843999999 meters Centerline goodness : 0.132312 with order 2 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.16, Z:1.07 [[ 9.98561936e-01 1.55712273e-03 5.35876351e-02 -2.56045901e+00] [-1.45667227e-03 9.99997108e-01 -1.91351498e-03 -1.63773751e-01] [-5.35904597e-02 1.83270360e-03 9.98561317e-01 1.06871732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202557844 meters Centerline goodness : 0.265233 with order 1 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.16, Z:1.07 [[ 9.98602715e-01 5.66743236e-03 5.25404433e-02 -2.55738490e+00] [-5.76185764e-03 9.99982046e-01 1.64589541e-03 -1.60056191e-01] [-5.25301720e-02 -1.94632618e-03 9.98617441e-01 1.06789153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262557844 meters Centerline goodness : 0.177418 with order 1 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.16, Z:1.07 [[ 9.98611724e-01 5.99974712e-03 5.23318939e-02 -2.55697752e+00] [-6.07405673e-03 9.99980758e-01 1.26103968e-03 -1.57434753e-01] [-5.23233210e-02 -1.57715590e-03 9.98628951e-01 1.06819713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322557844 meters Centerline goodness : 0.164047 with order 1 Centerline is valid? [False, False] Translation: X:-2.60, Y:-0.15, Z:1.07 [[ 9.98390365e-01 8.18720873e-03 5.61217258e-02 -2.60424721e+00] [-8.30925749e-03 9.99963592e-01 1.94170747e-03 -1.52989900e-01] [-5.61037854e-02 -2.40491190e-03 9.98422046e-01 1.07262436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382557843999999 meters Centerline goodness : 0.140392 with order 2 Centerline is valid? [False, False] Translation: X:-2.60, Y:-0.15, Z:1.07 [[ 9.98392617e-01 8.17264662e-03 5.60837834e-02 -2.60426746e+00] [-8.28688047e-03 9.99964035e-01 1.80457851e-03 -1.52522359e-01] [-5.60670181e-02 -2.26643747e-03 9.98424435e-01 1.07287804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442557844 meters Centerline goodness : 0.169044 with order 1 Centerline is valid? [False, False] Translation: X:-2.61, Y:-0.15, Z:1.07 [[ 9.98340481e-01 8.50003198e-03 5.69564133e-02 -2.60713263e+00] [-8.61715861e-03 9.99961231e-01 1.81113638e-03 -1.51669396e-01] [-5.69388105e-02 -2.29893321e-03 9.98375023e-01 1.07445410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502557844 meters Centerline goodness : 0.283734 with order 1 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.15, Z:1.08 [[ 9.98286236e-01 2.05826585e-03 5.84837967e-02 -2.63348924e+00] [-2.29546135e-03 9.99989410e-01 3.98885569e-03 -1.47471473e-01] [-5.84749672e-02 -4.11626703e-03 9.98280389e-01 1.07848403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562557843999999 meters Centerline goodness : 0.196678 with order 1 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.15, Z:1.08 [[ 9.98298918e-01 1.97143456e-03 5.82699131e-02 -2.63289194e+00] [-2.20228649e-03 9.99989978e-01 3.89781631e-03 -1.47144087e-01] [-5.82616449e-02 -4.01951285e-03 9.98293256e-01 1.07823682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622557844 meters Centerline goodness : 0.239099 with order 1 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.14, Z:1.08 [[ 9.98500640e-01 2.54416560e-03 5.46808858e-02 -2.67942557e+00] [-2.78224501e-03 9.99986978e-01 4.27829484e-03 -1.43513164e-01] [-5.46692890e-02 -4.42401576e-03 9.98494716e-01 1.08366808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682557844 meters Centerline goodness : 0.176401 with order 1 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.14, Z:1.08 [[ 9.98527886e-01 2.54501824e-03 5.41810245e-02 -2.67823014e+00] [-2.75780221e-03 9.99988775e-01 3.85287558e-03 -1.40762996e-01] [-5.41706107e-02 -3.99662426e-03 9.98523696e-01 1.08365579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742557844 meters Centerline goodness : 0.137638 with order 3 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.14, Z:1.08 [[ 9.98531720e-01 2.48189003e-03 5.41132497e-02 -2.67821815e+00] [-2.68008380e-03 9.99989963e-01 3.59031420e-03 -1.39322191e-01] [-5.41037958e-02 -3.73007066e-03 9.98528350e-01 1.08396741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802557843999999 meters Centerline goodness : 0.198604 with order 1 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.14, Z:1.08 [[ 9.98492579e-01 2.43616919e-03 5.48327917e-02 -2.68043732e+00] [-2.61278034e-03 9.99991627e-01 3.14944728e-03 -1.37228128e-01] [-5.48246600e-02 -3.28796577e-03 9.98490584e-01 1.08498998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862557844 meters Centerline goodness : 0.378500 with order 1 Centerline is valid? [False, False] Translation: X:-2.68, Y:-0.13, Z:1.08 [[ 9.98519427e-01 2.41862527e-03 5.43424684e-02 -2.67886371e+00] [-2.56744909e-03 9.99993142e-01 2.66898269e-03 -1.34618990e-01] [-5.43356404e-02 -2.80455259e-03 9.98518789e-01 1.08422605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922557844 meters SLAMing on 13.982557843999999 meters SLAMing on 14.042557844 meters SLAMing on 14.102557844 meters Centerline goodness : 0.187889 with order 1 Centerline is valid? [False, False] Translation: X:-2.71, Y:-0.11, Z:1.08 [[ 0.99811346 0.0216603 0.05744877 -2.71260332] [-0.02188005 0.99975549 0.0031988 -0.112442 ] [-0.05736544 -0.00444975 0.99834333 1.08417963] [ 0. 0. 0. 1. ]] SLAMing on 14.162557844 meters Centerline goodness : 0.173395 with order 1 Centerline is valid? [False, False] Translation: X:-2.71, Y:-0.11, Z:1.08 [[ 0.99814881 0.02158208 0.056861 -2.71114924] [-0.02177341 0.99975916 0.00274748 -0.11050395] [-0.05678801 -0.00398045 0.99837832 1.08391212] [ 0. 0. 0. 1. ]] SLAMing on 14.222557843999999 meters Centerline goodness : 0.182432 with order 2 Centerline is valid? [False, False] Translation: X:-2.73, Y:-0.11, Z:1.08 [[ 0.99821458 0.01303022 0.05829121 -2.73357008] [-0.01325968 0.99990578 0.0035514 -0.106196 ] [-0.05823944 -0.00431798 0.99829331 1.08488772] [ 0. 0. 0. 1. ]] SLAMing on 14.282557844 meters Centerline goodness : 0.180438 with order 1 Centerline is valid? [False, False] Translation: X:-2.71, Y:-0.10, Z:1.08 [[ 0.99837862 0.00463748 0.05673285 -2.71133781] [-0.00485596 0.99998131 0.00371381 -0.10274698] [-0.05671456 -0.00398328 0.99838249 1.08362354] [ 0. 0. 0. 1. ]] SLAMing on 14.342557844 meters Centerline goodness : 0.151061 with order 2 Centerline is valid? [False, False] Translation: X:-2.76, Y:-0.10, Z:1.09 [[ 0.99854879 0.00527792 0.05359533 -2.75673339] [-0.00552913 0.99997441 0.00453999 -0.10311456] [-0.05357 -0.00482973 0.99855242 1.08823405] [ 0. 0. 0. 1. ]] SLAMing on 14.402557843999999 meters Centerline goodness : 0.098085 with order 1 Centerline is valid? [False, False] Translation: X:-2.76, Y:-0.10, Z:1.09 [[ 0.99851236 0.00531264 0.05426637 -2.75950531] [-0.00556832 0.99997409 0.0045615 -0.10363755] [-0.05424073 -0.00485688 0.99851608 1.09061513] [ 0. 0. 0. 1. ]] SLAMing on 14.462557843999999 meters Centerline goodness : 0.169961 with order 2 Centerline is valid? [False, False] Translation: X:-2.78, Y:-0.10, Z:1.09 [[ 0.99853326 -0.00327999 0.05404226 -2.7799481 ] [ 0.00299209 0.9999809 0.00540721 -0.10136055] [-0.05405896 -0.00523758 0.99852401 1.09120487] [ 0. 0. 0. 1. ]] SLAMing on 14.522557844 meters SLAMing on 14.582557844 meters Centerline goodness : 0.085413 with order 1 Centerline is valid? [False, False] Translation: X:-2.78, Y:-0.11, Z:1.09 [[ 9.98502539e-01 -5.76101870e-03 5.44011974e-02 -2.78082640e+00] [ 5.60345709e-03 9.99979654e-01 3.04837696e-03 -1.07957876e-01] [-5.44176523e-02 -2.73897736e-03 9.98514505e-01 1.09133452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642557843999999 meters Centerline goodness : 0.098444 with order 1 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.11, Z:1.09 [[ 0.99873884 -0.00548381 0.04990648 -2.82168501] [ 0.00532781 0.9999805 0.00325832 -0.11302948] [-0.04992337 -0.00298832 0.99874858 1.09344486] [ 0. 0. 0. 1. ]] SLAMing on 14.702557844 meters Centerline goodness : 0.190451 with order 1 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.12, Z:1.09 [[ 0.99874448 -0.00515796 0.04982825 -2.82143234] [ 0.00495968 0.99997929 0.00410212 -0.11694069] [-0.04984837 -0.00384984 0.99874938 1.09344007] [ 0. 0. 0. 1. ]] SLAMing on 14.762557844 meters Centerline goodness : 0.220766 with order 2 Centerline is valid? [False, False] Translation: X:-2.82, Y:-0.12, Z:1.09 [[ 0.99872207 -0.00487143 0.05030403 -2.82316248] [ 0.00464414 0.99997848 0.00463429 -0.11907863] [-0.05032552 -0.00439475 0.9987232 1.09465531] [ 0. 0. 0. 1. ]] SLAMing on 14.822557844 meters Centerline goodness : 0.185162 with order 1 Centerline is valid? [False, False] Translation: X:-2.87, Y:-0.12, Z:1.10 [[ 0.99886891 -0.00501286 0.0472839 -2.86677384] [ 0.00481273 0.99997898 0.00434536 -0.12191209] [-0.04730469 -0.00411288 0.99887204 1.09758339] [ 0. 0. 0. 1. ]] SLAMing on 14.882557843999999 meters Centerline goodness : 0.277938 with order 1 Centerline is valid? [False, False] Translation: X:-2.87, Y:-0.12, Z:1.10 [[ 0.99888547 -0.00484896 0.04695008 -2.86554017] [ 0.00463233 0.99997812 0.00472189 -0.12389367] [-0.04697195 -0.00449914 0.99888608 1.09664473] [ 0. 0. 0. 1. ]] SLAMing on 14.942557844 meters Centerline goodness : 0.302419 with order 2 Centerline is valid? [False, False] Translation: X:-2.87, Y:-0.13, Z:1.10 [[ 0.99888041 -0.0046632 0.04707634 -2.86640791] [ 0.00442904 0.9999773 0.00507714 -0.12500811] [-0.04709895 -0.00486296 0.99887839 1.0976898 ] [ 0. 0. 0. 1. ]] SLAMing on 15.002557844 meters Centerline goodness : 0.125372 with order 2 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.14, Z:1.10 [[ 9.98800532e-01 -4.93704447e-04 4.89617650e-02 -2.88613414e+00] [ 3.82384525e-04 9.99997321e-01 2.28294993e-03 -1.35871507e-01] [-4.89627610e-02 -2.26148938e-03 9.98798045e-01 1.09866993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062557843999999 meters Centerline goodness : 0.111896 with order 2 Centerline is valid? [False, False] Translation: X:-2.91, Y:-0.14, Z:1.10 [[ 0.99875915 -0.00959492 0.04886814 -2.90950612] [ 0.00943852 0.99994957 0.00343027 -0.13735153] [-0.04889858 -0.00296478 0.99879935 1.10020668] [ 0. 0. 0. 1. ]] SLAMing on 15.122557844 meters Centerline goodness : 0.141346 with order 3 Centerline is valid? [False, False] Translation: X:-2.91, Y:-0.14, Z:1.10 [[ 0.99872739 -0.00977516 0.04947781 -2.91170747] [ 0.00959829 0.99994667 0.00381098 -0.14115649] [-0.04951243 -0.00333122 0.99876795 1.10163036] [ 0. 0. 0. 1. ]] SLAMing on 15.182557844 meters Centerline goodness : 0.168462 with order 3 Centerline is valid? [False, False] Translation: X:-2.93, Y:-0.15, Z:1.10 [[ 9.98771614e-01 -2.12973210e-03 4.95048225e-02 -2.92830564e+00] [ 1.95605398e-03 9.99991763e-01 3.55648919e-03 -1.51915440e-01] [-4.95119891e-02 -3.45528634e-03 9.98767553e-01 1.09939380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242557844 meters Centerline goodness : 0.187507 with order 1 Centerline is valid? [False, False] Translation: X:-2.93, Y:-0.16, Z:1.10 [[ 9.98745087e-01 -5.64058384e-03 4.97637892e-02 -2.92932329e+00] [ 5.58402769e-03 9.99983596e-01 1.27544727e-03 -1.63144765e-01] [-4.97701671e-02 -9.95964318e-04 9.98760201e-01 1.10026425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302557843999999 meters Centerline goodness : 0.208698 with order 1 Centerline is valid? [False, False] Translation: X:-2.93, Y:-0.17, Z:1.10 [[ 9.98727898e-01 -8.07316867e-03 4.97735778e-02 -2.93051301e+00] [ 8.07895501e-03 9.99967361e-01 8.49329733e-05 -1.72851902e-01] [-4.97726389e-02 3.17293566e-04 9.98760524e-01 1.10164039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362557844 meters Centerline goodness : 0.298120 with order 3 Centerline is valid? [False, False] Translation: X:-2.93, Y:-0.18, Z:1.10 [[ 9.98682851e-01 -8.29068239e-03 5.06342489e-02 -2.93335179e+00] [ 8.25433748e-03 9.99965503e-01 9.26864692e-04 -1.81690081e-01] [-5.06401865e-02 -5.07691695e-04 9.98716834e-01 1.10294612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422557844 meters Centerline goodness : 0.139323 with order 2 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:1.10 [[ 9.98647764e-01 -7.29337037e-03 5.14728167e-02 -2.88973164e+00] [ 7.21319901e-03 9.99972465e-01 1.74314317e-03 -1.81750359e-01] [-5.14841128e-02 -1.36950236e-03 9.98672875e-01 1.10058364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482557843999999 meters Centerline goodness : 0.164684 with order 3 Centerline is valid? [False, False] Translation: X:-2.89, Y:-0.18, Z:1.10 [[ 0.99868056 -0.00351864 0.05123234 -2.88897169] [ 0.00324234 0.99997975 0.00547533 -0.18028775] [-0.05125057 -0.00530199 0.99867175 1.10038225] [ 0. 0. 0. 1. ]] SLAMing on 15.542557844 meters Centerline goodness : 0.152179 with order 3 Centerline is valid? [False, False] Translation: X:-2.91, Y:-0.18, Z:1.10 [[ 9.98803566e-01 2.85771084e-03 4.88187373e-02 -2.90960049e+00] [-2.95257862e-03 9.99993890e-01 1.87126258e-03 -1.80833013e-01] [-4.88130915e-02 -2.01316490e-03 9.98805902e-01 1.10175193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602557844 meters Centerline goodness : 0.189935 with order 1 Centerline is valid? [False, False] Translation: X:-2.93, Y:-0.18, Z:1.10 [[ 9.98816794e-01 -6.09686665e-03 4.82476981e-02 -2.92980760e+00] [ 5.97331988e-03 9.99978502e-01 2.70444770e-03 -1.76784275e-01] [-4.82631495e-02 -2.41304884e-03 9.98831740e-01 1.10148729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662557844 meters Centerline goodness : 0.187768 with order 1 Centerline is valid? [False, False] Translation: X:-2.93, Y:-0.18, Z:1.10 [[ 9.98768023e-01 -6.16361370e-03 4.92386727e-02 -2.93276819e+00] [ 6.01961037e-03 9.99977162e-01 3.07235297e-03 -1.77997574e-01] [-4.92564850e-02 -2.77217028e-03 9.98782316e-01 1.10216009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722557843999999 meters Centerline goodness : 0.190084 with order 1 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.18, Z:1.11 [[ 9.98961645e-01 -3.88367835e-03 4.53932692e-02 -2.96143788e+00] [ 3.96539147e-03 9.99990675e-01 -1.71020631e-03 -1.75533818e-01] [-4.53862041e-02 1.88843259e-03 9.98967730e-01 1.10710141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782557844 meters Centerline goodness : 0.123147 with order 2 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.17, Z:1.11 [[ 9.98964733e-01 -4.66372085e-04 4.54889595e-02 -2.96210172e+00] [ 3.86776998e-04 9.99998379e-01 1.75855306e-03 -1.73894305e-01] [-4.54897059e-02 -1.73913840e-03 9.98963294e-01 1.10762725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842557844 meters Centerline goodness : 0.456385 with order 3 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.17, Z:1.11 [[ 9.98999851e-01 1.90571177e-03 4.46728685e-02 -2.95816319e+00] [-2.07539742e-03 9.99990806e-01 3.75233253e-03 -1.68782293e-01] [-4.46653070e-02 -3.84129359e-03 9.98994622e-01 1.10503488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902557843999999 meters Centerline goodness : 0.185783 with order 1 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.17, Z:1.11 [[ 9.99020437e-01 1.71866677e-03 4.42177897e-02 -2.95722113e+00] [-1.87744712e-03 9.99991938e-01 3.54959241e-03 -1.68003197e-01] [-4.42113326e-02 -3.62913193e-03 9.99015609e-01 1.10523621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962557843999999 meters Centerline goodness : 0.187031 with order 1 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.17, Z:1.10 [[ 9.99030935e-01 1.60885358e-03 4.39841250e-02 -2.95620770e+00] [-1.75014477e-03 9.99993431e-01 3.17400318e-03 -1.66217402e-01] [-4.39787296e-02 -3.24790595e-03 9.99027188e-01 1.10426303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022557843999998 meters Centerline goodness : 0.186882 with order 1 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.16, Z:1.10 [[ 9.99029046e-01 1.50691280e-03 4.40306069e-02 -2.95611378e+00] [-1.63261495e-03 9.99994694e-01 2.81906070e-03 -1.64468350e-01] [-4.40261251e-02 -2.88820855e-03 9.99026205e-01 1.10381816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082557843999997 meters Centerline goodness : 0.166934 with order 1 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.16, Z:1.11 [[ 9.99018951e-01 2.52789133e-03 4.42125101e-02 -2.95756051e+00] [-2.65914315e-03 9.99992230e-01 2.91009742e-03 -1.61052854e-01] [-4.42048102e-02 -3.02480987e-03 9.99017910e-01 1.10522153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142557844 meters Centerline goodness : 0.120627 with order 2 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.16, Z:1.11 [[ 9.99000922e-01 2.58497731e-03 4.46147378e-02 -2.95879090e+00] [-2.69739571e-03 9.99993337e-01 2.45974136e-03 -1.58554112e-01] [-4.46080821e-02 -2.57762749e-03 9.99001239e-01 1.10574752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202557843999998 meters Centerline goodness : 0.174566 with order 1 Centerline is valid? [False, False] Translation: X:-2.96, Y:-0.16, Z:1.11 [[ 9.98908244e-01 3.35626728e-03 4.65945802e-02 -2.96435257e+00] [-3.48589631e-03 9.99990276e-01 2.70108498e-03 -1.57134256e-01] [-4.65850615e-02 -2.86055993e-03 9.98910231e-01 1.10722841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262557843999996 meters Centerline goodness : 0.405554 with order 3 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.16, Z:1.11 [[ 0.99905919 0.00430589 0.04315304 -3.00826339] [-0.00446015 0.999984 0.00347914 -0.15720825] [-0.04313737 -0.00366834 0.99906242 1.11077849] [ 0. 0. 0. 1. ]] SLAMing on 16.322557844 meters Centerline goodness : 0.169566 with order 1 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.16, Z:1.11 [[ 0.99902816 0.00483279 0.04381079 -3.01013479] [-0.00500251 0.9999804 0.00376512 -0.15732679] [-0.04379174 -0.00398062 0.99903275 1.11122945] [ 0. 0. 0. 1. ]] SLAMing on 16.382557843999997 meters Centerline goodness : 0.381262 with order 1 Centerline is valid? [False, False] Translation: X:-3.01, Y:-0.16, Z:1.11 [[ 0.99900763 0.00503041 0.04425436 -3.01162552] [-0.0052237 0.99997731 0.00425306 -0.15978568] [-0.04423196 -0.00448002 0.99901124 1.11201238] [ 0. 0. 0. 1. ]] SLAMing on 16.442557843999996 meters Centerline goodness : 0.381949 with order 1 Centerline is valid? [False, False] Translation: X:-3.05, Y:-0.17, Z:1.11 [[ 0.99917721 0.00505431 0.04024117 -3.05350006] [-0.00525147 0.99997471 0.00479529 -0.16612549] [-0.04021592 -0.00500267 0.99917849 1.11452479] [ 0. 0. 0. 1. ]] SLAMing on 16.502557844 meters Centerline goodness : 0.164599 with order 1 Centerline is valid? [False, False] Translation: X:-3.06, Y:-0.17, Z:1.12 [[ 0.99913925 0.00522358 0.04115171 -3.05633392] [-0.00543942 0.99997202 0.00513484 -0.16781776] [-0.04112374 -0.00535426 0.99913971 1.11586942] [ 0. 0. 0. 1. ]] SLAMing on 16.562557843999997 meters Centerline goodness : 0.123921 with order 2 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.17, Z:1.12 [[ 9.99353273e-01 1.27783658e-03 3.59360904e-02 -3.07889106e+00] [-1.58466365e-03 9.99962526e-01 8.51094570e-03 -1.72305825e-01] [-3.59238681e-02 -8.56238806e-03 9.99317848e-01 1.11858532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622557844 meters Centerline goodness : 0.292461 with order 1 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.18, Z:1.12 [[ 0.99941678 0.00961169 0.03276763 -3.09742124] [-0.0098597 0.9999239 0.00741553 -0.17550495] [-0.03269386 -0.00773428 0.99943549 1.11775217] [ 0. 0. 0. 1. ]] SLAMing on 16.682557843999998 meters Centerline goodness : 0.156731 with order 1 Centerline is valid? [False, False] Translation: X:-3.08, Y:-0.17, Z:1.12 [[ 9.99413899e-01 1.58873916e-03 3.41955455e-02 -3.07936266e+00] [-1.87168253e-03 9.99964267e-01 8.24385569e-03 -1.71363054e-01] [-3.41812263e-02 -8.30302716e-03 9.99381160e-01 1.11882106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742557843999997 meters Centerline goodness : 0.391397 with order 1 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.17, Z:1.12 [[ 0.99939934 -0.00697189 0.03394633 -3.10065521] [ 0.0066443 0.99993036 0.0097536 -0.16897234] [-0.03401196 -0.00952219 0.99937606 1.1186669 ] [ 0. 0. 0. 1. ]] SLAMing on 16.802557844 meters Centerline goodness : 0.111582 with order 2 Centerline is valid? [False, False] Translation: X:-3.10, Y:-0.17, Z:1.12 [[ 0.99941961 -0.00706536 0.03332459 -3.09863577] [ 0.00673593 0.99992744 0.00998754 -0.17074798] [-0.03339274 -0.00975727 0.99939468 1.11773253] [ 0. 0. 0. 1. ]] SLAMing on 16.862557843999998 meters Centerline goodness : 0.148564 with order 1 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.17, Z:1.12 [[ 9.99575324e-01 -2.94227211e-03 2.89916425e-02 -3.12329839e+00] [ 2.73549491e-03 9.99970558e-01 7.16938578e-03 -1.74692166e-01] [-2.90118832e-02 -7.08703462e-03 9.99553943e-01 1.12142966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922557843999996 meters Centerline goodness : 0.168364 with order 3 Centerline is valid? [False, False] Translation: X:-3.12, Y:-0.18, Z:1.12 [[ 0.99954923 -0.00647528 0.02931567 -3.12412918] [ 0.00635859 0.99997149 0.00407204 -0.17872245] [-0.02934121 -0.0038838 0.99956191 1.12166154] [ 0. 0. 0. 1. ]] SLAMing on 16.982557844 meters Centerline goodness : 0.147603 with order 2 Centerline is valid? [False, False] Translation: X:-3.13, Y:-0.18, Z:1.12 [[ 0.99953986 -0.00618247 0.02969585 -3.12507106] [ 0.006034 0.99996886 0.00508701 -0.18352434] [-0.02972638 -0.00490548 0.99954604 1.12185046] [ 0. 0. 0. 1. ]] SLAMing on 17.042557843999997 meters Centerline goodness : 0.152670 with order 3 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.19, Z:1.12 [[ 9.99493425e-01 -9.46992692e-04 3.18118881e-02 -3.14851295e+00] [ 8.64015833e-04 9.99996189e-01 2.62200529e-03 -1.94419695e-01] [-3.18142499e-02 -2.59319107e-03 9.99490435e-01 1.12261495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102557843999996 meters Centerline goodness : 0.132996 with order 3 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.20, Z:1.12 [[ 9.99482142e-01 -6.00595671e-04 3.21727600e-02 -3.14923934e+00] [ 5.01957093e-04 9.99995150e-01 3.07389256e-03 -1.95878179e-01] [-3.21744501e-02 -3.05615138e-03 9.99477596e-01 1.12225648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162557844 meters Centerline goodness : 0.375182 with order 1 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.20, Z:1.13 [[ 9.99591140e-01 3.79066977e-04 2.85903670e-02 -3.19376260e+00] [-4.78885945e-04 9.99993814e-01 3.48458334e-03 -2.02130186e-01] [-2.85888692e-02 -3.49685016e-03 9.99585138e-01 1.12600537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222557843999997 meters Centerline goodness : 0.192517 with order 3 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.20, Z:1.13 [[ 0.99960572 0.00397118 0.02779641 -3.15003504] [-0.00413133 0.99997518 0.00570662 -0.20182885] [-0.02777305 -0.0058192 0.99959732 1.12573429] [ 0. 0. 0. 1. ]] SLAMing on 17.282557844 meters Centerline goodness : 0.127046 with order 3 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.20, Z:1.12 [[ 0.99962053 0.00394349 0.02726237 -3.14767844] [-0.00410314 0.99997475 0.00580283 -0.20285098] [-0.0272388 -0.00591249 0.99961147 1.12375712] [ 0. 0. 0. 1. ]] SLAMing on 17.342557843999998 meters Centerline goodness : 0.130441 with order 3 Centerline is valid? [False, False] Translation: X:-3.15, Y:-0.20, Z:1.12 [[ 9.99631566e-01 -1.33398639e-05 2.71428180e-02 -3.14682087e+00] [-3.48913953e-05 9.99998421e-01 1.77646930e-03 -2.03413403e-01] [-2.71427989e-02 -1.77676184e-03 9.99629987e-01 1.12262297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402557843999997 meters Centerline goodness : 0.132800 with order 3 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.21, Z:1.12 [[ 9.99619462e-01 -1.05096515e-02 2.55044950e-02 -3.16830471e+00] [ 1.04519381e-02 9.99942509e-01 2.39513085e-03 -2.07729745e-01] [-2.55282007e-02 -2.12764801e-03 9.99671838e-01 1.12368701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462557844 meters Centerline goodness : 0.191323 with order 3 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.22, Z:1.13 [[ 9.99643856e-01 -1.32412906e-02 2.31695769e-02 -3.21551402e+00] [ 1.32115399e-02 9.99911692e-01 1.43665185e-03 -2.16766465e-01] [-2.31865539e-02 -1.13003441e-03 9.99730517e-01 1.12806287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522557843999998 meters Centerline goodness : 0.131738 with order 3 Centerline is valid? [False, False] Translation: X:-3.17, Y:-0.22, Z:1.13 [[ 9.99589866e-01 -1.16131247e-02 2.61769940e-02 -3.17497337e+00] [ 1.15596949e-02 9.99930783e-01 2.19150151e-03 -2.16586691e-01] [-2.62006323e-02 -1.88800464e-03 9.99654922e-01 1.12841332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582557843999997 meters Centerline goodness : 0.182872 with order 3 Centerline is valid? [False, False] Translation: X:-3.19, Y:-0.22, Z:1.13 [[ 9.99677863e-01 -3.51548422e-03 2.51358435e-02 -3.19452381e+00] [ 3.49034965e-03 9.99993364e-01 1.04375311e-03 -2.21785005e-01] [-2.51393460e-02 -9.55683997e-04 9.99683500e-01 1.12724691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642557844 meters Centerline goodness : 0.175617 with order 3 Centerline is valid? [False, False] Translation: X:-3.22, Y:-0.23, Z:1.13 [[ 9.99715130e-01 5.45715100e-03 2.32352998e-02 -3.21554203e+00] [-5.48495887e-03 9.99984315e-01 1.13323073e-03 -2.26695498e-01] [-2.32287512e-02 -1.26035257e-03 9.99729382e-01 1.12754631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702557843999998 meters Centerline goodness : 0.127671 with order 3 Centerline is valid? [False, False] Translation: X:-3.24, Y:-0.23, Z:1.13 [[ 9.99768278e-01 -3.81993927e-03 2.11848535e-02 -3.23711970e+00] [ 3.77911006e-03 9.99990925e-01 1.96698309e-03 -2.26534884e-01] [-2.11921750e-02 -1.88646740e-03 9.99773641e-01 1.12950592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762557843999996 meters Centerline goodness : 0.132451 with order 3 Centerline is valid? [False, False] Translation: X:-3.24, Y:-0.23, Z:1.13 [[ 0.99975706 -0.00344377 0.0217706 -3.23952089] [ 0.00336958 0.99998839 0.00344339 -0.23340094] [-0.0217822 -0.00336919 0.99975706 1.13157818] [ 0. 0. 0. 1. ]] SLAMing on 17.822557844 meters Centerline goodness : 0.127564 with order 3 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.24, Z:1.13 [[ 9.99694149e-01 1.21514230e-03 2.47008449e-02 -3.26469578e+00] [-1.23427009e-03 9.99998950e-01 7.59146568e-04 -2.42692536e-01] [-2.46998964e-02 -7.89401896e-04 9.99694599e-01 1.13310204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882557843999997 meters Centerline goodness : 0.125247 with order 3 Centerline is valid? [False, False] Translation: X:-3.27, Y:-0.25, Z:1.13 [[ 9.99691066e-01 1.44838479e-03 2.48127979e-02 -3.26518090e+00] [-1.48136905e-03 9.99998043e-01 1.31099477e-03 -2.45090317e-01] [-2.48108505e-02 -1.34734667e-03 9.99691256e-01 1.13356451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942557843999996 meters Centerline goodness : 0.232638 with order 3 Centerline is valid? [False, False] Translation: X:-3.26, Y:-0.25, Z:1.13 [[ 9.99696409e-01 2.16285902e-03 2.45441002e-02 -3.26425756e+00] [-2.20944235e-03 9.99995809e-01 1.87098440e-03 -2.46079537e-01] [-2.45399506e-02 -1.92464516e-03 9.99696997e-01 1.13294411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002557844 meters Centerline goodness : 0.229672 with order 3 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.25, Z:1.13 [[ 9.99699875e-01 9.12316538e-03 2.27360393e-02 -3.28598189e+00] [-9.10949732e-03 9.99958259e-01 -7.04662799e-04 -2.50320351e-01] [-2.27415191e-02 4.97337423e-04 9.99741255e-01 1.13404038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062557843999997 meters Centerline goodness : 0.122816 with order 3 Centerline is valid? [False, False] Translation: X:-3.29, Y:-0.25, Z:1.13 [[ 9.99693929e-01 9.31060103e-03 2.29207443e-02 -3.28673193e+00] [-9.30258043e-03 9.99956626e-01 -4.56529711e-04 -2.51037432e-01] [-2.29240007e-02 2.43167914e-04 9.99737181e-01 1.13447200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122557844 meters Centerline goodness : 0.127707 with order 3 Centerline is valid? [False, False] Translation: X:-3.31, Y:-0.26, Z:1.14 [[ 9.99731517e-01 -8.05657865e-04 2.31569640e-02 -3.31116198e+00] [ 8.03380257e-04 9.99999671e-01 1.07658215e-04 -2.55659750e-01] [-2.31570431e-02 -8.90254633e-05 9.99731836e-01 1.13583265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182557843999998 meters Centerline goodness : 0.223157 with order 3 Centerline is valid? [False, False] Translation: X:-3.31, Y:-0.26, Z:1.13 [[ 9.99745790e-01 -7.31139215e-04 2.25349015e-02 -3.30908775e+00] [ 7.17174691e-04 9.99999546e-01 6.27759801e-04 -2.58575090e-01] [-2.25353502e-02 -6.11438757e-04 9.99745860e-01 1.13487136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242557843999997 meters Centerline goodness : 0.142419 with order 1 Centerline is valid? [False, False] Translation: X:-3.34, Y:-0.27, Z:1.14 [[ 9.99824499e-01 -3.10267256e-03 1.84755300e-02 -3.33903910e+00] [ 3.01094139e-03 9.99983013e-01 4.99075776e-03 -2.69752437e-01] [-1.84907009e-02 -4.93425314e-03 9.99816857e-01 1.13829117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302557844 meters Centerline goodness : 0.116305 with order 2 Centerline is valid? [False, False] Translation: X:-3.34, Y:-0.27, Z:1.14 [[ 9.99828407e-01 -2.98822805e-03 1.82818991e-02 -3.33877437e+00] [ 2.88944332e-03 9.99981097e-01 5.42744796e-03 -2.72248685e-01] [-1.82977720e-02 -5.37369214e-03 9.99818141e-01 1.13877353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362557843999998 meters Centerline goodness : 0.143823 with order 1 Centerline is valid? [False, False] Translation: X:-3.34, Y:-0.27, Z:1.14 [[ 9.99840291e-01 -2.56064754e-03 1.76871305e-02 -3.33637742e+00] [ 2.46018704e-03 9.99980733e-01 5.69928966e-03 -2.72543812e-01] [-1.77013836e-02 -5.65486579e-03 9.99827327e-01 1.13686168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422557843999996 meters Centerline goodness : 0.230387 with order 3 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.28, Z:1.14 [[ 0.99985358 0.00573762 0.01612152 -3.35570201] [-0.00581706 0.99997115 0.00488471 -0.27659346] [-0.01609303 -0.00497778 0.99985811 1.1354044 ] [ 0. 0. 0. 1. ]] SLAMing on 18.482557844 meters Centerline goodness : 0.120399 with order 3 Centerline is valid? [False, False] Translation: X:-3.33, Y:-0.27, Z:1.14 [[ 9.99870351e-01 -2.52050964e-03 1.59037182e-02 -3.33424427e+00] [ 2.44294882e-03 9.99985038e-01 4.89444231e-03 -2.71745846e-01] [-1.59158167e-02 -4.85495578e-03 9.99861549e-01 1.13543163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542557843999997 meters Centerline goodness : 0.132818 with order 3 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.28, Z:1.14 [[ 9.99876669e-01 2.35624137e-03 1.55272346e-02 -3.35724544e+00] [-2.37971110e-03 9.99996054e-01 1.49321740e-03 -2.77161279e-01] [-1.55236549e-02 -1.52998357e-03 9.99878330e-01 1.13669270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602557843999996 meters Centerline goodness : 0.140001 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.28, Z:1.14 [[ 9.99881361e-01 1.99690022e-03 1.52734108e-02 -3.35655268e+00] [-2.02784385e-03 9.99995922e-01 2.01076172e-03 -2.80784863e-01] [-1.52693332e-02 -2.04149526e-03 9.99881333e-01 1.13684736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662557844 meters Centerline goodness : 0.124610 with order 3 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.28, Z:1.14 [[ 9.99875618e-01 1.92527192e-03 1.56537940e-02 -3.35810640e+00] [-1.96579012e-03 9.99994757e-01 2.57342039e-03 -2.83946539e-01] [-1.56487573e-02 -2.60387238e-03 9.99874160e-01 1.13821968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722557843999997 meters Centerline goodness : 0.141082 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.29, Z:1.14 [[ 9.99880721e-01 2.03522300e-03 1.53101662e-02 -3.35717853e+00] [-2.07960444e-03 9.99993680e-01 2.88345994e-03 -2.85409441e-01] [-1.53042010e-02 -2.91495510e-03 9.99878635e-01 1.13816637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782557843999996 meters Centerline goodness : 0.132725 with order 3 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.28, Z:1.14 [[ 9.99855621e-01 2.53536814e-03 1.68020714e-02 -3.36161578e+00] [-2.58692773e-03 9.99992010e-01 3.04762138e-03 -2.84510675e-01] [-1.67942103e-02 -3.09064712e-03 9.99854191e-01 1.13950564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842557843999998 meters Centerline goodness : 0.119197 with order 3 Centerline is valid? [False, False] Translation: X:-3.37, Y:-0.28, Z:1.14 [[ 9.99831220e-01 2.89499657e-03 1.81425100e-02 -3.36518031e+00] [-2.95064559e-03 9.99991022e-01 3.04131071e-03 -2.83487527e-01] [-1.81335425e-02 -3.09432951e-03 9.99830786e-01 1.13994224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902557843999997 meters Centerline goodness : 0.134211 with order 3 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.28, Z:1.14 [[ 9.99841090e-01 2.89623518e-03 1.75899294e-02 -3.36335848e+00] [-2.95411388e-03 9.99990305e-01 3.26535322e-03 -2.84925391e-01] [-1.75803017e-02 -3.31679698e-03 9.99839953e-01 1.13906240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962557844 meters Centerline goodness : 0.143059 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.29, Z:1.14 [[ 9.99845033e-01 2.95436622e-03 1.73545932e-02 -3.36311442e+00] [-3.02133135e-03 9.99988087e-01 3.83368932e-03 -2.88052677e-01] [-1.73430603e-02 -3.88552920e-03 9.99842048e-01 1.13981671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022557843999998 meters Centerline goodness : 0.132110 with order 3 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.29, Z:1.14 [[ 9.99852093e-01 2.92197769e-03 1.69485630e-02 -3.36200440e+00] [-2.99530045e-03 9.99986259e-01 4.30242315e-03 -2.90885709e-01] [-1.69357585e-02 -4.35255283e-03 9.99847106e-01 1.13970197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082557843999997 meters Centerline goodness : 0.145428 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.29, Z:1.14 [[ 9.99874221e-01 1.24631212e-03 1.58110345e-02 -3.35575609e+00] [-1.29104410e-03 9.99995192e-01 2.81927061e-03 -2.93509745e-01] [-1.58074448e-02 -2.83932874e-03 9.99871023e-01 1.13549521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142557844 meters Centerline goodness : 0.146209 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.30, Z:1.14 [[ 9.99869165e-01 1.40911972e-03 1.61141820e-02 -3.35698133e+00] [-1.46178016e-03 9.99993629e-01 3.25664469e-03 -2.95261402e-01] [-1.61094903e-02 -3.27977400e-03 9.99864855e-01 1.13636830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202557843999998 meters Centerline goodness : 0.147898 with order 1 Centerline is valid? [False, False] Translation: X:-3.35, Y:-0.30, Z:1.14 [[ 9.99881102e-01 1.21769999e-03 1.53720412e-02 -3.35460475e+00] [-1.26869229e-03 9.99993724e-01 3.30789550e-03 -2.96596663e-01] [-1.53679167e-02 -3.32700459e-03 9.99876371e-01 1.13553538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262557843999996 meters Centerline goodness : 0.146934 with order 1 Centerline is valid? [False, False] Translation: X:-3.35, Y:-0.30, Z:1.13 [[ 9.99884297e-01 1.17397315e-03 1.51662442e-02 -3.35366039e+00] [-1.22356390e-03 9.99993935e-01 3.26094593e-03 -2.96486244e-01] [-1.51623239e-02 -3.27912549e-03 9.99879668e-01 1.13465991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322557844 meters Centerline goodness : 0.144916 with order 1 Centerline is valid? [False, False] Translation: X:-3.36, Y:-0.30, Z:1.14 [[ 9.99875609e-01 1.19582189e-03 1.57269617e-02 -3.35548203e+00] [-1.24822438e-03 9.99993701e-01 3.32262240e-03 -2.96627049e-01] [-1.57228894e-02 -3.34183987e-03 9.99870803e-01 1.13552510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382557843999997 meters Centerline goodness : 0.123663 with order 3 Centerline is valid? [False, False] Translation: X:-3.35, Y:-0.30, Z:1.14 [[ 9.99878907e-01 1.21564646e-03 1.55143197e-02 -3.35489377e+00] [-1.27045552e-03 9.99992986e-01 3.52343779e-03 -2.97539936e-01] [-1.55099277e-02 -3.54272137e-03 9.99873438e-01 1.13533621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442557843999996 meters Centerline goodness : 0.146369 with order 1 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.31, Z:1.14 [[ 9.99858722e-01 -2.01543476e-03 1.66875455e-02 -3.39855281e+00] [ 1.95092616e-03 9.99990566e-01 3.88105006e-03 -3.05544172e-01] [-1.66952101e-02 -3.84794558e-03 9.99853221e-01 1.13631057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502557844 meters Centerline goodness : 0.128821 with order 3 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.31, Z:1.14 [[ 9.99845944e-01 -1.84996793e-03 1.74546681e-02 -3.40115563e+00] [ 1.76925876e-03 9.99987678e-01 4.63823999e-03 -3.09276860e-01] [-1.74630337e-02 -4.60664362e-03 9.99836897e-01 1.13781084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562557843999997 meters Centerline goodness : 0.192758 with order 3 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.31, Z:1.14 [[ 9.99847658e-01 -1.67558705e-03 1.73739399e-02 -3.40050604e+00] [ 1.58768236e-03 9.99985876e-01 5.07213100e-03 -3.11285496e-01] [-1.73821934e-02 -5.04377401e-03 9.99836196e-01 1.13698210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622557844 meters Centerline goodness : 0.143564 with order 1 Centerline is valid? [False, False] Translation: X:-3.40, Y:-0.31, Z:1.14 [[ 9.99846705e-01 -1.40105374e-03 1.74529228e-02 -3.40071028e+00] [ 1.30864502e-03 9.99985072e-01 5.30503752e-03 -3.12075101e-01] [-1.74600949e-02 -5.28138460e-03 9.99833612e-01 1.13699309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682557843999998 meters Centerline goodness : 0.165840 with order 3 Centerline is valid? [False, False] Translation: X:-3.42, Y:-0.32, Z:1.14 [[ 0.9998277 0.00630154 0.0174602 -3.42137692] [-0.00637741 0.99997045 0.0042931 -0.31897515] [-0.01743263 -0.00440371 0.99983834 1.1360377 ] [ 0. 0. 0. 1. ]] SLAMing on 19.742557843999997 meters Centerline goodness : 0.143022 with order 1 Centerline is valid? [False, False] Translation: X:-3.41, Y:-0.32, Z:1.13 [[ 9.99872362e-01 5.14065451e-03 1.51272115e-02 -3.41212997e+00] [-5.18420683e-03 9.99982525e-01 2.84126709e-03 -3.19508621e-01] [-1.51123412e-02 -2.91932703e-03 9.99881540e-01 1.13149937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802557844 meters Centerline goodness : 0.326916 with order 1 Centerline is valid? [False, False] Translation: X:-3.41, Y:-0.32, Z:1.13 [[ 9.99876940e-01 5.32655709e-03 1.47557687e-02 -3.41074438e+00] [-5.37595372e-03 9.99980071e-01 3.30997418e-03 -3.21576159e-01] [-1.47378438e-02 -3.38889318e-03 9.99885649e-01 1.13073598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862557843999998 meters Centerline goodness : 0.331287 with order 1 Centerline is valid? [False, False] Translation: X:-3.41, Y:-0.33, Z:1.13 [[ 9.99883001e-01 2.13844702e-03 1.51463494e-02 -3.41224737e+00] [-2.15746992e-03 9.99996904e-01 1.23971083e-03 -3.29179267e-01] [-1.51436515e-02 -1.27224357e-03 9.99884519e-01 1.13128439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922557843999996 meters Centerline goodness : 0.343532 with order 1 Centerline is valid? [False, False] Translation: X:-3.44, Y:-0.33, Z:1.13 [[ 9.99870947e-01 -8.28230175e-03 1.37656383e-02 -3.43518933e+00] [ 8.26176940e-03 9.99964673e-01 1.54776405e-03 -3.31799780e-01] [-1.37779711e-02 -1.43383578e-03 9.99904051e-01 1.13290407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982557844 meters Centerline goodness : 0.148424 with order 1 Centerline is valid? [False, False] Translation: X:-3.43, Y:-0.34, Z:1.13 [[ 9.99876235e-01 -8.04882868e-03 1.35177929e-02 -3.43479778e+00] [ 8.01930315e-03 9.99965343e-01 2.23698418e-03 -3.35069844e-01] [-1.35353295e-02 -2.12830404e-03 9.99906128e-01 1.13341917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042557843999997 meters Centerline goodness : 0.329443 with order 1 Centerline is valid? [False, False] Translation: X:-3.42, Y:-0.34, Z:1.13 [[ 9.99876280e-01 9.42844002e-04 1.57014341e-02 -3.41658278e+00] [-9.60502473e-04 9.99998915e-01 1.11713751e-03 -3.39357490e-01] [-1.57003638e-02 -1.13208057e-03 9.99876101e-01 1.13464187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102557843999996 meters Centerline goodness : 0.179064 with order 3 Centerline is valid? [False, False] Translation: X:-3.46, Y:-0.35, Z:1.14 [[ 9.99903019e-01 2.83966834e-05 1.39266783e-02 -3.46426462e+00] [-5.69629319e-05 9.99997895e-01 2.05079655e-03 -3.45108390e-01] [-1.39265908e-02 -2.05139097e-03 9.99900916e-01 1.13768718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162557844 meters Centerline goodness : 0.222050 with order 3 Centerline is valid? [False, False] Translation: X:-3.46, Y:-0.35, Z:1.14 [[ 9.99901744e-01 6.34367942e-05 1.40177937e-02 -3.46480442e+00] [-9.38604246e-05 9.99997642e-01 2.16971075e-03 -3.45602626e-01] [-1.40176230e-02 -2.17081328e-03 9.99899392e-01 1.13825518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222557843999997 meters Centerline goodness : 0.148897 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.35, Z:1.14 [[ 9.99880711e-01 -2.47580900e-03 1.52457854e-02 -3.46838142e+00] [ 2.46017999e-03 9.99996429e-01 1.04380594e-03 -3.51950636e-01] [-1.52483153e-02 -1.00617405e-03 9.99883231e-01 1.13770002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282557843999996 meters Centerline goodness : 0.349856 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.35, Z:1.14 [[ 9.99881562e-01 -2.92488271e-03 1.51098401e-02 -3.46813141e+00] [ 2.90781116e-03 9.99995109e-01 1.15167608e-03 -3.52863828e-01] [-1.51131347e-02 -1.10760311e-03 9.99885177e-01 1.13712718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342557843999998 meters Centerline goodness : 0.131170 with order 3 Centerline is valid? [False, False] Translation: X:-3.45, Y:-0.35, Z:1.14 [[ 9.99790352e-01 -1.26445545e-02 1.61048536e-02 -3.45082801e+00] [ 1.25989622e-02 9.99916339e-01 2.92929276e-03 -3.48736881e-01] [-1.61405459e-02 -2.72577420e-03 9.99866017e-01 1.13569268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402557843999997 meters Centerline goodness : 0.130582 with order 2 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.36, Z:1.13 [[ 9.99802670e-01 -7.36519524e-03 1.84492541e-02 -3.46948441e+00] [ 7.35212100e-03 9.99972671e-01 7.76386128e-04 -3.56659459e-01] [-1.84544681e-02 -6.40591776e-04 9.99829497e-01 1.13454330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462557844 meters Centerline goodness : 0.160345 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.36, Z:1.13 [[ 9.99811751e-01 -7.85567280e-03 1.77412432e-02 -3.46744414e+00] [ 7.84178652e-03 9.99968890e-01 8.52144393e-04 -3.57201695e-01] [-1.77473855e-02 -7.12860936e-04 9.99842249e-01 1.13281433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522557843999998 meters Centerline goodness : 0.131824 with order 3 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.36, Z:1.13 [[ 9.99814269e-01 -8.82055784e-03 1.71354741e-02 -3.46575470e+00] [ 8.81812283e-03 9.99961096e-01 2.17656165e-04 -3.55812755e-01] [-1.71367273e-02 -6.65130239e-05 9.99853153e-01 1.13127677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582557843999997 meters Centerline goodness : 0.136295 with order 3 Centerline is valid? [False, False] Translation: X:-3.46, Y:-0.35, Z:1.13 [[ 9.99838608e-01 -6.37120874e-03 1.67978062e-02 -3.46464860e+00] [ 6.32223888e-03 9.99975614e-01 2.96674746e-03 -3.54355941e-01] [-1.68162983e-02 -2.86006890e-03 9.99854505e-01 1.13087487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642557844 meters Centerline goodness : 0.362182 with order 2 Centerline is valid? [False, False] Translation: X:-3.42, Y:-0.35, Z:1.13 [[ 9.99785436e-01 -7.32944060e-03 1.93742530e-02 -3.42203282e+00] [ 7.31998911e-03 9.99973052e-01 5.58710166e-04 -3.51435538e-01] [-1.93778259e-02 -4.16770967e-04 9.99812145e-01 1.12979966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702557843999998 meters Centerline goodness : 0.188701 with order 1 Centerline is valid? [False, False] Translation: X:-3.42, Y:-0.35, Z:1.13 [[ 9.99776640e-01 -7.52177916e-03 1.97507639e-02 -3.42312452e+00] [ 7.51764667e-03 9.99971702e-01 2.83471446e-04 -3.50155248e-01] [-1.97523372e-02 -1.34928865e-04 9.99804894e-01 1.13000281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762557843999996 meters Centerline goodness : 0.117190 with order 1 Centerline is valid? [False, False] Translation: X:-3.42, Y:-0.35, Z:1.13 [[ 9.99781483e-01 -7.73881182e-03 1.94189806e-02 -3.42202392e+00] [ 7.74730771e-03 9.99969924e-01 -3.62311624e-04 -3.47263605e-01] [-1.94155926e-02 5.12677270e-04 9.99811368e-01 1.12949758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822557844 meters Centerline goodness : 0.125338 with order 2 Centerline is valid? [False, False] Translation: X:-3.44, Y:-0.34, Z:1.13 [[ 9.99842672e-01 1.13109334e-03 1.77017737e-02 -3.44417325e+00] [-1.11846851e-03 9.99999113e-01 -7.23079973e-04 -3.44795288e-01] [-1.77025759e-02 7.03167335e-04 9.99843050e-01 1.13058688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882557843999997 meters Centerline goodness : 0.185137 with order 1 Centerline is valid? [False, False] Translation: X:-3.44, Y:-0.34, Z:1.13 [[ 9.99845008e-01 8.75700840e-04 1.75838694e-02 -3.44381678e+00] [-8.53134360e-04 9.99998803e-01 -1.29082285e-03 -3.42334736e-01] [-1.75849788e-02 1.27562138e-03 9.99844559e-01 1.13039980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942557843999996 meters SLAMing on 21.002557844 meters Centerline goodness : 0.138979 with order 2 Centerline is valid? [False, False] Translation: X:-3.43, Y:-0.33, Z:1.13 [[ 9.99746595e-01 -7.59508628e-03 2.11910496e-02 -3.42730043e+00] [ 7.59825706e-03 9.99971130e-01 -6.91146830e-05 -3.30157859e-01] [-2.11899129e-02 2.30112212e-04 9.99775442e-01 1.13191381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062557843999997 meters Centerline goodness : 0.146655 with order 2 Centerline is valid? [False, False] Translation: X:-3.42, Y:-0.33, Z:1.13 [[ 9.99766515e-01 -8.30342377e-03 1.99491267e-02 -3.42325316e+00] [ 8.31378116e-03 9.99965345e-01 -4.36310261e-04 -3.29614226e-01] [-1.99448125e-02 6.02061063e-04 9.99800901e-01 1.13017233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122557843999996 meters Centerline goodness : 0.152700 with order 3 Centerline is valid? [False, False] Translation: X:-3.44, Y:-0.33, Z:1.13 [[ 9.99849353e-01 -5.06979617e-04 1.73497703e-02 -3.44206044e+00] [ 5.24149922e-04 9.99999377e-01 -9.85123095e-04 -3.32816454e-01] [-1.73492601e-02 9.94068570e-04 9.99848996e-01 1.12941164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182557843999998 meters Centerline goodness : 0.152458 with order 3 Centerline is valid? [False, False] Translation: X:-3.45, Y:-0.33, Z:1.13 [[ 9.99838602e-01 1.81184930e-03 1.78742312e-02 -3.44541178e+00] [-1.83367503e-03 9.99997593e-01 1.20475885e-03 -3.29312905e-01] [-1.78720054e-02 -1.23733994e-03 9.99839517e-01 1.13205928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242557843999997 meters Centerline goodness : 0.190786 with order 3 Centerline is valid? [False, False] Translation: X:-3.45, Y:-0.33, Z:1.13 [[ 9.99838257e-01 1.69538375e-03 1.79048849e-02 -3.44535580e+00] [-1.70652270e-03 9.99998360e-01 6.06857639e-04 -3.26145300e-01] [-1.79038267e-02 -6.37314576e-04 9.99839511e-01 1.13186527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302557844 meters Centerline goodness : 0.150151 with order 3 Centerline is valid? [False, False] Translation: X:-3.45, Y:-0.32, Z:1.13 [[ 9.99831265e-01 1.49782175e-03 1.83084217e-02 -3.44606379e+00] [-1.49749241e-03 9.99998878e-01 -3.16981899e-05 -3.22698235e-01] [-1.83084487e-02 4.27611875e-06 9.99832386e-01 1.13148693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362557843999998 meters Centerline goodness : 0.139885 with order 2 Centerline is valid? [False, False] Translation: X:-3.45, Y:-0.32, Z:1.13 [[ 9.99837783e-01 8.69600846e-04 1.79903141e-02 -3.44534309e+00] [-8.59070258e-04 9.99999455e-01 -5.93067461e-04 -3.20204607e-01] [-1.79908201e-02 5.77516312e-04 9.99837985e-01 1.13172709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422557843999996 meters Centerline goodness : 0.115295 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.32, Z:1.13 [[ 9.99813892e-01 -1.01988596e-02 1.63757610e-02 -3.46585561e+00] [ 1.02192045e-02 9.99947111e-01 -1.15917831e-03 -3.15732307e-01] [-1.63630726e-02 1.32630983e-03 9.99865236e-01 1.13221543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482557844 meters Centerline goodness : 0.124709 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.31, Z:1.13 [[ 9.99808887e-01 -1.04583548e-02 1.65170137e-02 -3.46596038e+00] [ 1.04813015e-02 9.99944220e-01 -1.30331617e-03 -3.14789662e-01] [-1.65024618e-02 1.47618689e-03 9.99862735e-01 1.13186220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542557843999997 meters Centerline goodness : 0.119424 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.31, Z:1.13 [[ 9.99834404e-01 -7.97491089e-03 1.63574226e-02 -3.46573607e+00] [ 7.95418419e-03 9.99967478e-01 1.33178205e-03 -3.11892724e-01] [-1.63675115e-02 -1.20145156e-03 9.99865321e-01 1.13204521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602557843999996 meters Centerline goodness : 0.121937 with order 1 Centerline is valid? [False, False] Translation: X:-3.47, Y:-0.31, Z:1.13 [[ 0.99984702 -0.00465982 0.0168591 -3.46732246] [ 0.0045849 0.99997945 0.00447985 -0.30893626] [-0.01687963 -0.00440187 0.99984784 1.13254776] [ 0. 0. 0. 1. ]] SLAMing on 21.662557844 meters Centerline goodness : 0.154115 with order 3 Centerline is valid? [False, False] Translation: X:-3.51, Y:-0.30, Z:1.13 [[ 0.9998196 -0.0036971 0.01863042 -3.51189043] [ 0.0035789 0.99997328 0.00637377 -0.3043136 ] [-0.01865349 -0.00630594 0.99980612 1.13310678] [ 0. 0. 0. 1. ]] SLAMing on 21.722557843999997 meters Centerline goodness : 0.158892 with order 2 Centerline is valid? [False, False] Translation: X:-3.51, Y:-0.30, Z:1.13 [[ 9.99837149e-01 -9.33863548e-04 1.80223175e-02 -3.51004999e+00] [ 7.63860471e-04 9.99955174e-01 9.43749941e-03 -3.02589764e-01] [-1.80303230e-02 -9.42219597e-03 9.99793043e-01 1.13265999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782557843999996 meters Centerline goodness : 0.156877 with order 2 Centerline is valid? [False, False] Translation: X:-3.50, Y:-0.30, Z:1.13 [[ 9.99863667e-01 1.29298698e-03 1.64613109e-02 -3.50374965e+00] [-1.47601212e-03 9.99937179e-01 1.11112137e-02 -2.95179980e-01] [-1.64459101e-02 -1.11339960e-02 9.99802764e-01 1.12932358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842557843999998 meters Centerline goodness : 0.148896 with order 2 Centerline is valid? [False, False] Translation: X:-3.50, Y:-0.29, Z:1.13 [[ 0.99985096 0.00484304 0.01657093 -3.5042521 ] [-0.00507799 0.99988676 0.01416604 -0.29029027] [-0.01650045 -0.01424808 0.99976234 1.12986019] [ 0. 0. 0. 1. ]] SLAMing on 21.902557843999997 meters Centerline goodness : 0.110012 with order 2 Centerline is valid? [False, False] Translation: X:-3.50, Y:-0.29, Z:1.13 [[ 0.99982369 0.00844339 0.01677189 -3.50475629] [-0.00873511 0.9998105 0.01739715 -0.28615563] [-0.01662182 -0.01754059 0.99970798 1.13010138] [ 0. 0. 0. 1. ]] SLAMing on 21.962557844 meters Centerline goodness : 0.169310 with order 3 Centerline is valid? [False, False] Translation: X:-3.52, Y:-0.28, Z:1.13 [[ 9.99880609e-01 -4.32452595e-04 1.54460541e-02 -3.52309616e+00] [ 1.49301122e-04 9.99832015e-01 1.83280888e-02 -2.75543426e-01] [-1.54513855e-02 -1.83235945e-02 9.99712709e-01 1.12869932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022557843999998 meters Centerline goodness : 0.210495 with order 3 Centerline is valid? [False, False] Translation: X:-3.57, Y:-0.27, Z:1.13 [[ 0.99989178 -0.00410145 0.01412799 -3.57097337] [ 0.0038685 0.99985677 0.01647625 -0.27197016] [-0.01419355 -0.01641982 0.99976444 1.13198673] [ 0. 0. 0. 1. ]] SLAMing on 22.082557843999997 meters Centerline goodness : 0.241574 with order 3 Centerline is valid? [False, False] Translation: X:-3.57, Y:-0.27, Z:1.13 [[ 0.99989063 -0.00436788 0.01412957 -3.57053433] [ 0.00414125 0.99986295 0.01602892 -0.26927481] [-0.01419765 -0.01596865 0.99977169 1.1311894 ] [ 0. 0. 0. 1. ]] SLAMing on 22.142557844 meters Centerline goodness : 0.188882 with order 1 Centerline is valid? [False, False] Translation: X:-3.57, Y:-0.27, Z:1.13 [[ 0.99989474 -0.00466701 0.01373818 -3.56917215] [ 0.00445539 0.99987158 0.01539386 -0.26609946] [-0.01380826 -0.01533104 0.99978712 1.13052233] [ 0. 0. 0. 1. ]] SLAMing on 22.202557843999998 meters Centerline goodness : 0.114948 with order 1 Centerline is valid? [False, False] Translation: X:-3.62, Y:-0.26, Z:1.13 [[ 0.99983044 -0.00534922 0.01762055 -3.61607061] [ 0.0050851 0.99987457 0.01499973 -0.26022262] [-0.01769858 -0.01490758 0.99973223 1.13222073] [ 0. 0. 0. 1. ]] SLAMing on 22.262557843999996 meters Centerline goodness : 0.117322 with order 1 Centerline is valid? [False, False] Translation: X:-3.64, Y:-0.26, Z:1.13 [[ 9.99793749e-01 9.62431628e-04 2.02862884e-02 -3.64249585e+00] [-1.23122287e-03 9.99911568e-01 1.32415750e-02 -2.61370948e-01] [-2.02717503e-02 -1.32638208e-02 9.99706521e-01 1.13385236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322557844 meters Centerline goodness : 0.116131 with order 1 Centerline is valid? [False, False] Translation: X:-3.64, Y:-0.26, Z:1.13 [[ 9.99810120e-01 3.97795666e-04 1.94824586e-02 -3.63979109e+00] [-6.43815946e-04 9.99920118e-01 1.26231404e-02 -2.59005092e-01] [-1.94758809e-02 -1.26332866e-02 9.99730509e-01 1.13243745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382557843999997 meters Centerline goodness : 0.123176 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:-0.26, Z:1.13 [[ 0.99980233 0.00867247 0.01789112 -3.66030682] [-0.00888591 0.99988989 0.01188497 -0.25889155] [-0.01778607 -0.0120416 0.9997693 1.13269899] [ 0. 0. 0. 1. ]] SLAMing on 22.442557843999996 meters Centerline goodness : 0.120445 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:-0.26, Z:1.13 [[ 0.99980029 0.00843074 0.01811916 -3.66132923] [-0.0086386 0.99989743 0.01142409 -0.2567747 ] [-0.01802099 -0.01157833 0.99977057 1.13359067] [ 0. 0. 0. 1. ]] SLAMing on 22.502557844 meters Centerline goodness : 0.120206 with order 1 Centerline is valid? [False, False] Translation: X:-3.70, Y:-0.25, Z:1.13 [[ 0.99987475 0.00601463 0.01463921 -3.70286223] [-0.00616067 0.9999315 0.00995175 -0.25254427] [-0.01457836 -0.01004069 0.99984332 1.13392582] [ 0. 0. 0. 1. ]] SLAMing on 22.562557843999997 meters Centerline goodness : 0.247473 with order 3 Centerline is valid? [False, False] Translation: X:-3.68, Y:-0.25, Z:1.13 [[ 9.99935604e-01 -7.15042448e-04 1.13259097e-02 -3.68226839e+00] [ 5.97761103e-04 9.99946205e-01 1.03551394e-02 -2.47384344e-01] [-1.13327048e-02 -1.03477023e-02 9.99882240e-01 1.13456900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622557843999996 meters Centerline goodness : 0.182942 with order 1 Centerline is valid? [False, False] Translation: X:-3.73, Y:-0.24, Z:1.14 [[ 9.99969652e-01 9.47453117e-04 7.73287683e-03 -3.72634158e+00] [-1.03658135e-03 9.99932990e-01 1.15300255e-02 -2.38359065e-01] [-7.72143449e-03 -1.15376914e-02 9.99903626e-01 1.13717145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682557843999998 meters Centerline goodness : 0.162264 with order 2 Centerline is valid? [False, False] Translation: X:-3.72, Y:-0.23, Z:1.14 [[ 9.99976256e-01 1.16610680e-03 6.79170301e-03 -3.72336240e+00] [-1.24116248e-03 9.99938095e-01 1.10573746e-02 -2.34985346e-01] [-6.77838849e-03 -1.10655417e-02 9.99915800e-01 1.13588062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742557843999997 meters Centerline goodness : 0.194020 with order 2 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.23, Z:1.14 [[ 9.99984469e-01 1.67360173e-03 5.31608268e-03 -3.77235409e+00] [-1.73435270e-03 9.99933014e-01 1.14437915e-02 -2.28365540e-01] [-5.29657423e-03 -1.14528338e-02 9.99920386e-01 1.13903121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802557844 meters Centerline goodness : 0.166721 with order 3 Centerline is valid? [False, False] Translation: X:-3.75, Y:-0.23, Z:1.14 [[ 0.99991933 0.00863615 0.00931348 -3.75383743] [-0.00872221 0.99991928 0.00923882 -0.22602148] [-0.00923294 -0.00931931 0.99991395 1.13971016] [ 0. 0. 0. 1. ]] SLAMing on 22.862557843999998 meters Centerline goodness : 0.174387 with order 1 Centerline is valid? [False, False] Translation: X:-3.75, Y:-0.22, Z:1.14 [[ 0.9999212 0.00843621 0.00929647 -3.75369342] [-0.00851794 0.99992511 0.00878764 -0.22353048] [-0.00922164 -0.00886614 0.99991817 1.13953365] [ 0. 0. 0. 1. ]] SLAMing on 22.922557843999996 meters Centerline goodness : 0.172783 with order 1 Centerline is valid? [False, False] Translation: X:-3.75, Y:-0.22, Z:1.14 [[ 0.99992092 0.00798187 0.00971817 -3.75488002] [-0.00806085 0.99993458 0.00811489 -0.22110237] [-0.00965277 -0.00819259 0.99991985 1.13979238] [ 0. 0. 0. 1. ]] SLAMing on 22.982557844 meters Centerline goodness : 0.111250 with order 2 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.21, Z:1.14 [[ 9.99971707e-01 -6.08634911e-04 7.49763906e-03 -3.77285719e+00] [ 5.40869494e-04 9.99959020e-01 9.03694854e-03 -2.11746323e-01] [-7.50283201e-03 -9.03263762e-03 9.99931057e-01 1.13855246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042557843999997 meters Centerline goodness : 0.317990 with order 3 Centerline is valid? [False, False] Translation: X:-3.77, Y:-0.21, Z:1.14 [[ 9.99971542e-01 -9.66389977e-04 7.48208075e-03 -3.77286706e+00] [ 9.05302535e-04 9.99966268e-01 8.16358557e-03 -2.07862848e-01] [-7.48971757e-03 -8.15657971e-03 9.99938685e-01 1.13869769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102557843999996 meters Centerline goodness : 0.287883 with order 1 Centerline is valid? [False, False] Translation: X:-3.78, Y:-0.20, Z:1.14 [[ 9.99960242e-01 1.17248149e-03 8.83968098e-03 -3.77772073e+00] [-1.25465786e-03 9.99956000e-01 9.29649755e-03 -1.98080878e-01] [-8.82839206e-03 -9.30721872e-03 9.99917714e-01 1.14061757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162557844 meters Centerline goodness : 0.120358 with order 2 Centerline is valid? [False, False] Translation: X:-3.78, Y:-0.19, Z:1.14 [[ 0.99995597 0.0038344 0.00856426 -3.77515525] [-0.00393061 0.99992904 0.01124611 -0.19137137] [-0.00852053 -0.01127928 0.99990008 1.13852264] [ 0. 0. 0. 1. ]] SLAMing on 23.222557843999997 meters Centerline goodness : 0.179276 with order 1 Centerline is valid? [False, False] Translation: X:-3.78, Y:-0.18, Z:1.14 [[ 9.99957496e-01 3.14027475e-03 8.66864669e-03 -3.77553259e+00] [-3.22175917e-03 9.99950610e-01 9.40199611e-03 -1.82217950e-01] [-8.63869370e-03 -9.42952478e-03 9.99918225e-01 1.13883039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282557843999996 meters Centerline goodness : 0.173529 with order 3 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.17, Z:1.14 [[ 0.99994906 -0.00420978 0.00917398 -3.79323112] [ 0.00411251 0.9999354 0.01059644 -0.169928 ] [-0.00921799 -0.01055817 0.99990177 1.13640855] [ 0. 0. 0. 1. ]] SLAMing on 23.342557843999998 meters Centerline goodness : 0.178508 with order 1 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.16, Z:1.13 [[ 0.999952 -0.00590458 0.0078187 -3.78811263] [ 0.00583922 0.99994804 0.0083559 -0.16346146] [-0.00786763 -0.00830985 0.99993452 1.13385021] [ 0. 0. 0. 1. ]] SLAMing on 23.402557843999997 meters Centerline goodness : 0.139637 with order 2 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.16, Z:1.14 [[ 9.99952466e-01 -3.55486512e-03 9.07901942e-03 -3.79317251e+00] [ 3.46241796e-03 9.99942208e-01 1.01780047e-02 -1.57087452e-01] [-9.11467616e-03 -1.01460856e-02 9.99906985e-01 1.13628797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462557844 meters Centerline goodness : 0.169657 with order 1 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.15, Z:1.14 [[ 0.99995305 -0.00407837 0.00878994 -3.79206869] [ 0.00400057 0.99995283 0.00885099 -0.15106079] [-0.00882563 -0.00881541 0.9999222 1.13565481] [ 0. 0. 0. 1. ]] SLAMing on 23.522557843999998 meters Centerline goodness : 0.146687 with order 3 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.15, Z:1.14 [[ 0.99995283 -0.00433457 0.00869234 -3.7918521 ] [ 0.00426263 0.99995666 0.0082775 -0.14860054] [-0.00872784 -0.00824005 0.99992796 1.13571671] [ 0. 0. 0. 1. ]] SLAMing on 23.582557843999997 meters Centerline goodness : 0.144163 with order 3 Centerline is valid? [False, False] Translation: X:-3.79, Y:-0.14, Z:1.14 [[ 9.99957569e-01 -3.27176720e-03 8.61135493e-03 -3.79143017e+00] [ 3.19599497e-03 9.99956188e-01 8.79820894e-03 -1.40608024e-01] [-8.63976334e-03 -8.77031378e-03 9.99924215e-01 1.13545720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642557844 meters Centerline goodness : 0.170268 with order 1 Centerline is valid? [False, False] Translation: X:-3.81, Y:-0.14, Z:1.14 [[ 0.99996129 0.0056326 0.00676006 -3.81280939] [-0.00568336 0.99995563 0.00751273 -0.1373613 ] [-0.00671744 -0.00755086 0.99994893 1.13502581] [ 0. 0. 0. 1. ]] SLAMing on 23.702557843999998 meters Centerline goodness : 0.175081 with order 1 Centerline is valid? [False, False] Translation: X:-3.81, Y:-0.13, Z:1.14 [[ 0.99995584 0.00592655 0.00729312 -3.81479264] [-0.00597768 0.99995757 0.00700846 -0.13241753] [-0.00725127 -0.00705175 0.99994884 1.13608797] [ 0. 0. 0. 1. ]] SLAMing on 23.762557843999996 meters Centerline goodness : 0.135545 with order 2 Centerline is valid? [False, False] Translation: X:-3.82, Y:-0.13, Z:1.14 [[ 0.99995482 0.00562299 0.00766483 -3.81629627] [-0.00566885 0.99996609 0.00597422 -0.12739099] [-0.00763098 -0.0060174 0.99995278 1.13730294] [ 0. 0. 0. 1. ]] SLAMing on 23.822557844 meters Centerline goodness : 0.129380 with order 2 Centerline is valid? [False, False] Translation: X:-3.82, Y:-0.13, Z:1.14 [[ 0.9999586 0.00474165 0.00776615 -3.81633151] [-0.00478179 0.99997526 0.005158 -0.1253585 ] [-0.0077415 -0.00519492 0.99995654 1.13676154] [ 0. 0. 0. 1. ]] SLAMing on 23.882557843999997 meters Centerline goodness : 0.169998 with order 3 Centerline is valid? [False, False] Translation: X:-3.82, Y:-0.13, Z:1.14 [[ 0.99996199 0.00405934 0.00771687 -3.81571587] [-0.00409849 0.99997878 0.00506407 -0.12640321] [-0.00769615 -0.0050955 0.9999574 1.13570501] [ 0. 0. 0. 1. ]] SLAMing on 23.942557843999996 meters Centerline goodness : 0.146479 with order 2 Centerline is valid? [False, False] Translation: X:-3.86, Y:-0.12, Z:1.14 [[ 9.99984621e-01 2.46035933e-03 4.97043928e-03 -3.86239213e+00] [-2.47793203e-03 9.99990691e-01 3.53238189e-03 -1.24330710e-01] [-4.96170208e-03 -3.54464398e-03 9.99981408e-01 1.13810920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002557844 meters Centerline goodness : 0.125025 with order 2 Centerline is valid? [False, False] Translation: X:-3.86, Y:-0.13, Z:1.14 [[ 9.99983587e-01 2.55556442e-03 5.12779252e-03 -3.86289147e+00] [-2.57562444e-03 9.99989042e-01 3.90923449e-03 -1.26122175e-01] [-5.11774603e-03 -3.92237760e-03 9.99979212e-01 1.13824716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062557843999997 meters Centerline goodness : 0.168586 with order 1 Centerline is valid? [False, False] Translation: X:-3.86, Y:-0.13, Z:1.14 [[ 9.99984129e-01 2.48909137e-03 5.05441233e-03 -3.86263529e+00] [-2.50836052e-03 9.99989598e-01 3.80958735e-03 -1.25928849e-01] [-5.04487734e-03 -3.82220517e-03 9.99979970e-01 1.13813019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122557843999996 meters Centerline goodness : 0.149533 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-0.12, Z:1.14 [[ 9.99985990e-01 2.58483735e-03 4.61938148e-03 -3.86126244e+00] [-2.60111834e-03 9.99990415e-01 3.52197146e-03 -1.24073296e-01] [-4.61023348e-03 -3.53393767e-03 9.99983128e-01 1.13767354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182557843999998 meters Centerline goodness : 0.136339 with order 2 Centerline is valid? [False, False] Translation: X:-3.86, Y:-0.12, Z:1.14 [[ 9.99986579e-01 2.57217530e-03 4.49729896e-03 -3.86087234e+00] [-2.58601788e-03 9.99991929e-01 3.07487402e-03 -1.21964219e-01] [-4.48935355e-03 -3.08646284e-03 9.99985160e-01 1.13760202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242557843999997 meters Centerline goodness : 0.145029 with order 3 Centerline is valid? [False, False] Translation: X:-3.86, Y:-0.12, Z:1.14 [[ 9.99985202e-01 2.57920900e-03 4.78984552e-03 -3.86178855e+00] [-2.59463020e-03 9.99991462e-01 3.21614317e-03 -1.22757446e-01] [-4.78150952e-03 -3.22852346e-03 9.99983357e-01 1.13782588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302557844 meters Centerline goodness : 0.118970 with order 2 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.12, Z:1.14 [[ 9.99966466e-01 -6.42979916e-03 5.07195403e-03 -3.88513932e+00] [ 6.41091768e-03 9.99972492e-01 3.73023913e-03 -1.19099530e-01] [-5.09579920e-03 -3.69759816e-03 9.99980180e-01 1.13803655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362557843999998 meters Centerline goodness : 0.157491 with order 1 Centerline is valid? [False, False] Translation: X:-3.89, Y:-0.12, Z:1.14 [[ 0.99996016 -0.00690224 0.00566022 -3.88724761] [ 0.00687848 0.9999675 0.00420563 -0.12288707] [-0.00568907 -0.00416653 0.99997514 1.13890431] [ 0. 0. 0. 1. ]] SLAMing on 24.422557843999996 meters Centerline goodness : 0.150854 with order 3 Centerline is valid? [False, False] Translation: X:-3.91, Y:-0.13, Z:1.14 [[ 9.99990686e-01 1.57140939e-03 4.01981881e-03 -3.90586771e+00] [-1.58597988e-03 9.99992175e-01 3.62404858e-03 -1.28916664e-01] [-4.01409249e-03 -3.63039017e-03 9.99985354e-01 1.13746209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482557844 meters Centerline goodness : 0.122049 with order 2 Centerline is valid? [False, False] Translation: X:-3.93, Y:-0.13, Z:1.14 [[ 9.99965664e-01 7.83917403e-03 2.68669020e-03 -3.92875825e+00] [-7.84038115e-03 9.99969167e-01 4.39060492e-04 -1.30574111e-01] [-2.68316549e-03 -4.60110092e-04 9.99996294e-01 1.13777893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542557843999997 meters Centerline goodness : 0.162094 with order 1 Centerline is valid? [False, False] Translation: X:-3.93, Y:-0.13, Z:1.14 [[ 9.99961178e-01 8.40364358e-03 2.64983587e-03 -3.92897505e+00] [-8.40497304e-03 9.99964557e-01 4.90978579e-04 -1.29080012e-01] [-2.64561594e-03 -5.13231317e-04 9.99996369e-01 1.13853229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602557843999996 meters Centerline goodness : 0.160668 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.12, Z:1.14 [[ 9.99999197e-01 1.08545436e-03 6.54283822e-04 -3.94622065e+00] [-1.08650482e-03 9.99998118e-01 1.60729825e-03 -1.19274868e-01] [-6.52537942e-04 -1.60800784e-03 9.99998494e-01 1.13757610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662557844 meters Centerline goodness : 0.162585 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.11, Z:1.14 [[ 9.99989352e-01 4.56053571e-03 7.05563572e-04 -3.94526196e+00] [-4.56300810e-03 9.99983312e-01 3.54314081e-03 -1.10036037e-01] [-6.89393178e-04 -3.54632257e-03 9.99993474e-01 1.13647507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722557843999997 meters Centerline goodness : 0.174930 with order 1 Centerline is valid? [False, False] Translation: X:-3.94, Y:-0.10, Z:1.14 [[ 9.99965717e-01 8.27206360e-03 3.71798464e-04 -3.94409792e+00] [-8.27414903e-03 9.99947711e-01 6.00944485e-03 -1.02559714e-01] [-3.22068513e-04 -6.01231514e-03 9.99981874e-01 1.13630174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782557843999996 meters Centerline goodness : 0.178290 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.09, Z:1.14 [[ 9.99902877e-01 1.38490944e-02 1.56189313e-03 -3.94821294e+00] [-1.38629516e-02 9.99861204e-01 9.24070353e-03 -8.70120962e-02] [-1.43370097e-03 -9.26145849e-03 9.99956084e-01 1.13847428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842557843999998 meters Centerline goodness : 0.178377 with order 1 Centerline is valid? [False, False] Translation: X:-3.95, Y:-0.08, Z:1.14 [[ 9.99862855e-01 1.62778992e-02 3.04965735e-03 -3.95378479e+00] [-1.63083393e-02 9.99814597e-01 1.02376826e-02 -7.69587768e-02] [-2.88244397e-03 -1.02860134e-02 9.99942943e-01 1.14125365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902557843999997 meters Centerline goodness : 0.138424 with order 3 Centerline is valid? [False, False] Translation: X:-3.96, Y:-0.07, Z:1.14 [[ 9.99797131e-01 1.98129288e-02 3.62560043e-03 -3.95528679e+00] [-1.98587476e-02 9.99717349e-01 1.30710110e-02 -7.17348979e-02] [-3.36560065e-03 -1.31403592e-02 9.99907998e-01 1.14167709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962557844 meters Centerline goodness : 0.391954 with order 3 Centerline is valid? [False, False] Translation: X:-3.97, Y:-0.06, Z:1.14 [[ 0.99990686 0.01286019 0.00457099 -3.97458731] [-0.01292325 0.99981784 0.01404582 -0.05722628] [-0.00438952 -0.01410358 0.9998909 1.13945163] [ 0. 0. 0. 1. ]] SLAMing on 25.022557843999998 meters Centerline goodness : 0.134697 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.05, Z:1.14 [[ 9.99987613e-01 4.38401294e-03 2.35686872e-03 -3.99246277e+00] [-4.41712740e-03 9.99888941e-01 1.42335598e-02 -4.65151720e-02] [-2.29420686e-03 -1.42437941e-02 9.99895920e-01 1.13753944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082557843999997 meters Centerline goodness : 0.139282 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.04, Z:1.14 [[ 9.99988550e-01 4.28047020e-03 2.13972660e-03 -3.99216863e+00] [-4.30927157e-03 9.99897658e-01 1.36419742e-02 -4.30815883e-02] [-2.08111356e-03 -1.36510386e-02 9.99904655e-01 1.13795885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142557844 meters Centerline goodness : 0.136591 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.04, Z:1.14 [[ 9.99988972e-01 4.16989146e-03 2.16061251e-03 -3.99251734e+00] [-4.19764276e-03 9.99906648e-01 1.30029214e-02 -3.99297319e-02] [-2.10619004e-03 -1.30118475e-02 9.99913124e-01 1.13843277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202557843999998 meters Centerline goodness : 0.142445 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.03, Z:1.14 [[ 9.99987434e-01 4.72843568e-03 1.66544188e-03 -3.99054286e+00] [-4.74875223e-03 9.99911669e-01 1.24138533e-02 -3.46424192e-02] [-1.60659667e-03 -1.24216061e-02 9.99921558e-01 1.13682230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262557843999996 meters Centerline goodness : 0.143758 with order 2 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.03, Z:1.14 [[ 9.99985153e-01 5.22977707e-03 1.53062432e-03 -3.99044297e+00] [-5.24754739e-03 9.99916068e-01 1.18457239e-02 -3.08152777e-02] [-1.46854535e-03 -1.18535801e-02 9.99928665e-01 1.13651771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322557844 meters Centerline goodness : 0.144006 with order 2 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.02, Z:1.14 [[ 9.99953746e-01 9.48911409e-03 -1.56948667e-03 -4.03521256e+00] [-9.46647062e-03 9.99859202e-01 1.38550337e-02 -2.33733416e-02] [ 1.70073768e-03 -1.38395354e-02 9.99902783e-01 1.13815477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382557843999997 meters Centerline goodness : 0.161015 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.02, Z:1.14 [[ 9.99943269e-01 1.06187603e-02 -8.37330431e-04 -3.98991060e+00] [-1.06059220e-02 9.99844616e-01 1.40804252e-02 -1.90637743e-02] [ 9.86716984e-04 -1.40707458e-02 9.99900515e-01 1.13719599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442557843999996 meters Centerline goodness : 0.246301 with order 3 Centerline is valid? [False, False] Translation: X:-3.99, Y:-0.02, Z:1.14 [[ 9.99943676e-01 1.06121814e-02 -1.59716643e-04 -3.99186730e+00] [-1.06091053e-02 9.99854673e-01 1.33446867e-02 -1.64116802e-02] [ 3.01309668e-04 -1.33422406e-02 9.99910943e-01 1.13683130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502557844 meters Centerline goodness : 0.151376 with order 2 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.01, Z:1.14 [[ 9.99984457e-01 5.36417030e-03 1.52014166e-03 -4.01598959e+00] [-5.38829158e-03 9.99852060e-01 1.63347309e-02 -1.30916968e-02] [-1.43229450e-03 -1.63426680e-02 9.99865424e-01 1.13720810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562557843999997 meters Centerline goodness : 0.202307 with order 3 Centerline is valid? [False, False] Translation: X:-4.01, Y:-0.01, Z:1.14 [[ 9.99997579e-01 1.99444529e-03 9.29876711e-04 -4.01454104e+00] [-2.00607286e-03 9.99917646e-01 1.26758279e-02 -1.29330826e-02] [-9.04518887e-04 -1.26776626e-02 9.99919226e-01 1.13709634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622557843999996 meters Centerline goodness : 0.254360 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.02, Z:1.14 [[ 9.99997082e-01 -1.95965924e-03 1.41271113e-03 -4.01633775e+00] [ 1.94691676e-03 9.99957914e-01 8.96551291e-03 -1.50415746e-02] [-1.43022102e-03 -8.96273632e-03 9.99958811e-01 1.13810310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682557843999998 meters Centerline goodness : 0.139493 with order 3 Centerline is valid? [False, False] Translation: X:-4.02, Y:-0.02, Z:1.14 [[ 9.99996266e-01 -1.80821351e-03 2.04903501e-03 -4.01844118e+00] [ 1.78860263e-03 9.99952965e-01 9.53254063e-03 -1.76299422e-02] [-2.06617550e-03 -9.52884012e-03 9.99952465e-01 1.13914048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742557843999997 meters Centerline goodness : 0.143122 with order 2 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.02, Z:1.14 [[ 9.99987835e-01 4.45887116e-03 2.10896030e-03 -4.04085495e+00] [-4.47260937e-03 9.99968513e-01 6.55498198e-03 -2.47962993e-02] [-2.07966608e-03 -6.56433480e-03 9.99976292e-01 1.13942545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802557844 meters Centerline goodness : 0.140252 with order 2 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.03, Z:1.14 [[ 9.99987209e-01 4.69096400e-03 1.89111059e-03 -4.03997272e+00] [-4.70423187e-03 9.99963916e-01 7.07360677e-03 -2.69798546e-02] [-1.85786032e-03 -7.08241252e-03 9.99973194e-01 1.13883852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862557843999998 meters Centerline goodness : 0.109371 with order 2 Centerline is valid? [False, False] Translation: X:-4.04, Y:-0.03, Z:1.14 [[ 9.99987072e-01 4.88001337e-03 1.42888342e-03 -4.03786248e+00] [-4.89060303e-03 9.99959886e-01 7.50388922e-03 -2.90240813e-02] [-1.39220703e-03 -7.51078031e-03 9.99970825e-01 1.13718488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922557843999996 meters Centerline goodness : 0.112613 with order 1 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.03, Z:1.14 [[ 9.99970828e-01 7.06759620e-03 -2.89683554e-03 -4.07984272e+00] [-7.04160964e-03 9.99935736e-01 8.88479221e-03 -3.28243802e-02] [ 2.95944350e-03 -8.86413464e-03 9.99956333e-01 1.13750004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982557844 meters Centerline goodness : 0.390300 with order 1 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.03, Z:1.14 [[ 9.99969921e-01 7.33945523e-03 -2.50798819e-03 -4.08120111e+00] [-7.31637117e-03 9.99931895e-01 9.09265669e-03 -3.42776574e-02] [ 2.57455253e-03 -9.07403382e-03 9.99955516e-01 1.13815758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042557843999997 meters Centerline goodness : 0.111344 with order 2 Centerline is valid? [False, False] Translation: X:-4.08, Y:-0.04, Z:1.14 [[ 9.99969063e-01 7.49823971e-03 -2.37677768e-03 -4.08107603e+00] [-7.47584753e-03 9.99928863e-01 9.29412093e-03 -3.50516871e-02] [ 2.44629815e-03 -9.27606497e-03 9.99953984e-01 1.13727574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102557843999996 meters SLAMing on 26.162557844 meters Centerline goodness : 0.212007 with order 3 Centerline is valid? [False, False] Translation: X:-4.14, Y:-0.05, Z:1.14 [[ 9.99914952e-01 1.27696712e-02 -2.65050705e-03 -4.13988121e+00] [-1.27482733e-02 9.99887222e-01 7.93886122e-03 -4.52545452e-02] [ 2.75158478e-03 -7.90439664e-03 9.99964974e-01 1.13581666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222557843999997 meters Centerline goodness : 0.214777 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.05, Z:1.14 [[ 9.99939383e-01 1.09312963e-02 -1.31804625e-03 -4.14563621e+00] [-1.09226009e-02 9.99919652e-01 6.43315201e-03 -4.88266924e-02] [ 1.38826304e-03 -6.41836556e-03 9.99978438e-01 1.13856370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282557843999996 meters Centerline goodness : 0.179235 with order 1 Centerline is valid? [False, False] Translation: X:-4.15, Y:-0.05, Z:1.14 [[ 9.99974012e-01 7.14172172e-03 -9.85603445e-04 -4.14659527e+00] [-7.13854954e-03 9.99969447e-01 3.18535476e-03 -5.25763519e-02] [ 1.00832225e-03 -3.17823620e-03 9.99994441e-01 1.13864263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342557843999998 meters Centerline goodness : 0.170326 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.06, Z:1.14 [[ 9.99976393e-01 5.00011326e-03 -4.71305555e-03 -4.19052640e+00] [-4.99297601e-03 9.99986372e-01 1.52490945e-03 -5.94426021e-02] [ 4.72061604e-03 -1.50134127e-03 9.99987731e-01 1.13952944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402557843999997 meters Centerline goodness : 0.091847 with order 1 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.07, Z:1.14 [[ 9.99985449e-01 1.77852678e-03 -5.09308276e-03 -4.18977179e+00] [-1.78100132e-03 9.99998298e-01 -4.81368312e-04 -6.86376976e-02] [ 5.09221796e-03 4.90432094e-04 9.99986914e-01 1.13975605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462557843999996 meters Centerline goodness : 0.152444 with order 2 Centerline is valid? [False, False] Translation: X:-4.19, Y:-0.08, Z:1.14 [[ 9.99992402e-01 -3.07371666e-04 -3.88596150e-03 -4.19483388e+00] [ 3.00474515e-04 9.99998379e-01 -1.77534828e-03 -7.63608153e-02] [ 3.88650089e-03 1.77416716e-03 9.99990874e-01 1.14228170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522557843999998 meters Centerline goodness : 0.154259 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.08, Z:1.14 [[ 9.99994318e-01 -1.72951729e-03 -2.89344536e-03 -4.19903117e+00] [ 1.72212427e-03 9.99995251e-01 -2.55563798e-03 -8.42288130e-02] [ 2.89785165e-03 2.55064058e-03 9.99992548e-01 1.14437155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582557843999997 meters Centerline goodness : 0.168633 with order 1 Centerline is valid? [False, False] Translation: X:-4.20, Y:-0.09, Z:1.14 [[ 9.99993896e-01 -1.46684132e-03 -3.17117879e-03 -4.19780222e+00] [ 1.46008580e-03 9.99996662e-01 -2.13155265e-03 -8.61911702e-02] [ 3.17429485e-03 2.12690944e-03 9.99992700e-01 1.14342855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642557844 meters Centerline goodness : 0.166601 with order 1 Centerline is valid? [False, False] Translation: X:-4.22, Y:-0.09, Z:1.14 [[ 9.99959523e-01 6.65438118e-03 -6.05567001e-03 -4.21543829e+00] [-6.67515258e-03 9.99971885e-01 -3.41635217e-03 -9.27749785e-02] [ 6.03276604e-03 3.45663640e-03 9.99975828e-01 1.14120874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702557843999998 meters Centerline goodness : 0.159828 with order 1 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.09, Z:1.14 [[ 9.99979522e-01 -1.47159869e-03 -6.22813610e-03 -4.23772923e+00] [ 1.46090463e-03 9.99997452e-01 -1.72125765e-03 -9.29045146e-02] [ 6.23065322e-03 1.71212369e-03 9.99979124e-01 1.14134857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762557843999996 meters Centerline goodness : 0.310651 with order 1 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.10, Z:1.14 [[ 0.99996825 -0.0054198 -0.00584124 -4.23856201] [ 0.00538868 0.99997128 -0.00532962 -0.09518364] [ 0.00586996 0.00529798 0.99996874 1.14117158] [ 0. 0. 0. 1. ]] SLAMing on 26.822557844 meters Centerline goodness : 0.107155 with order 2 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.10, Z:1.14 [[ 0.99994801 -0.00830755 -0.00591331 -4.23675102] [ 0.00826601 0.99994124 -0.00701418 -0.10261025] [ 0.00597123 0.00696494 0.99995792 1.13920831] [ 0. 0. 0. 1. ]] SLAMing on 26.882557843999997 meters Centerline goodness : 0.187744 with order 1 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.11, Z:1.14 [[ 0.99994245 -0.00884406 -0.00607312 -4.23637637] [ 0.00880376 0.99993926 -0.00663067 -0.1067495 ] [ 0.0061314 0.00657682 0.99995957 1.13935751] [ 0. 0. 0. 1. ]] SLAMing on 26.942557843999996 meters Centerline goodness : 0.096800 with order 1 Centerline is valid? [False, False] Translation: X:-4.28, Y:-0.12, Z:1.14 [[ 0.99988393 -0.01147396 -0.01002403 -4.27673888] [ 0.01139655 0.99990506 -0.00774585 -0.1171713 ] [ 0.01011195 0.00763071 0.99991976 1.138942 ] [ 0. 0. 0. 1. ]] SLAMing on 27.002557844 meters Centerline goodness : 0.194428 with order 1 Centerline is valid? [False, False] Translation: X:-4.28, Y:-0.12, Z:1.14 [[ 0.99983189 -0.01531297 -0.01008498 -4.27571813] [ 0.01519825 0.99982002 -0.0113549 -0.11954155] [ 0.01025705 0.01119971 0.99988467 1.13791743] [ 0. 0. 0. 1. ]] SLAMing on 27.062557843999997 meters SLAMing on 27.122557843999996 meters SLAMing on 27.182557843999998 meters Centerline goodness : 0.172279 with order 1 Centerline is valid? [False, False] Translation: X:-4.29, Y:-0.14, Z:1.14 [[ 0.99993462 -0.00667214 -0.00928621 -4.29332671] [ 0.00654983 0.99989221 -0.01314012 -0.13887564] [ 0.00937288 0.01307844 0.99987054 1.13575128] [ 0. 0. 0. 1. ]] SLAMing on 27.242557843999997 meters Centerline goodness : 0.178902 with order 3 Centerline is valid? [False, False] Translation: X:-4.29, Y:-0.14, Z:1.13 [[ 0.99993375 -0.00666371 -0.00938513 -4.29258532] [ 0.0065376 0.99988879 -0.0134041 -0.1377822 ] [ 0.00947341 0.01334186 0.99986612 1.13487207] [ 0. 0. 0. 1. ]] SLAMing on 27.302557844 meters Centerline goodness : 0.160761 with order 1 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.14, Z:1.14 [[ 0.99989395 -0.00730098 -0.01260118 -4.33851478] [ 0.00712405 0.99987621 -0.01402902 -0.14035455] [ 0.01270205 0.01393776 0.99982218 1.13674127] [ 0. 0. 0. 1. ]] SLAMing on 27.362557843999998 meters Centerline goodness : 0.289951 with order 1 Centerline is valid? [False, False] Translation: X:-4.33, Y:-0.14, Z:1.14 [[ 0.99986214 -0.00782858 -0.01464288 -4.33290053] [ 0.00762332 0.99987263 -0.01402163 -0.14285034] [ 0.01475079 0.01390807 0.99979447 1.13583898] [ 0. 0. 0. 1. ]] SLAMing on 27.422557843999996 meters SLAMing on 27.482557844 meters SLAMing on 27.542557843999997 meters Centerline goodness : 0.154172 with order 2 Centerline is valid? [False, False] Translation: X:-4.35, Y:-0.16, Z:1.13 [[ 9.99913623e-01 -2.53677965e-03 -1.28961565e-02 -4.35040773e+00] [ 2.32339794e-03 9.99860600e-01 -1.65342884e-02 -1.64270028e-01] [ 1.29363027e-02 1.65028973e-02 9.99780129e-01 1.13476097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602557843999996 meters Centerline goodness : 0.173393 with order 1 Centerline is valid? [False, False] Translation: X:-4.37, Y:-0.17, Z:1.13 [[ 0.99988036 0.00697679 -0.01380575 -4.37098198] [-0.00720798 0.99983343 -0.01676747 -0.16863962] [ 0.01368647 0.01686498 0.9997641 1.13384866] [ 0. 0. 0. 1. ]] SLAMing on 27.662557844 meters Centerline goodness : 0.281724 with order 1 Centerline is valid? [False, False] Translation: X:-4.37, Y:-0.17, Z:1.14 [[ 0.99988252 0.00790408 -0.01313311 -4.37360371] [-0.0081236 0.99982676 -0.01674696 -0.16593423] [ 0.01299846 0.01685168 0.9997735 1.13527866] [ 0. 0. 0. 1. ]] SLAMing on 27.722557843999997 meters Centerline goodness : 0.171875 with order 1 Centerline is valid? [False, False] Translation: X:-4.37, Y:-0.16, Z:1.13 [[ 0.99984392 0.01198045 -0.01298506 -4.3735776 ] [-0.01214978 0.99984115 -0.01304073 -0.16385772] [ 0.01282676 0.01319646 0.99983065 1.13484246] [ 0. 0. 0. 1. ]] SLAMing on 27.782557843999996 meters Centerline goodness : 0.168972 with order 1 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.16, Z:1.14 [[ 0.99985569 0.01222162 -0.01179982 -4.376927 ] [-0.01238518 0.99982683 -0.01388964 -0.15832571] [ 0.01162803 0.01403378 0.99983391 1.13544232] [ 0. 0. 0. 1. ]] SLAMing on 27.842557843999998 meters Centerline goodness : 0.167116 with order 1 Centerline is valid? [False, False] Translation: X:-4.36, Y:-0.15, Z:1.14 [[ 0.99989067 0.00781554 -0.01255235 -4.35733648] [-0.00794382 0.9999164 -0.01020238 -0.15005589] [ 0.01247157 0.01030097 0.99986917 1.13727947] [ 0. 0. 0. 1. ]] SLAMing on 27.902557843999997 meters Centerline goodness : 0.171557 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.15, Z:1.13 [[ 0.99983962 0.00672095 -0.01660021 -4.39631323] [-0.00690969 0.99991184 -0.01133847 -0.14836976] [ 0.01652254 0.01145136 0.99979792 1.13477465] [ 0. 0. 0. 1. ]] SLAMing on 27.962557843999996 meters Centerline goodness : 0.377439 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.15, Z:1.13 [[ 0.9998386 0.00664413 -0.01669193 -4.39616022] [-0.00683784 0.99990963 -0.01157517 -0.14712013] [ 0.01661352 0.01168744 0.99979368 1.13484017] [ 0. 0. 0. 1. ]] SLAMing on 28.022557843999998 meters Centerline goodness : 0.274498 with order 1 Centerline is valid? [False, False] Translation: X:-4.42, Y:-0.15, Z:1.14 [[ 9.99843945e-01 -2.26449593e-03 -1.75201986e-02 -4.41838143e+00] [ 2.07744043e-03 9.99940730e-01 -1.06874058e-02 -1.46489035e-01] [ 1.75433617e-02 1.06493408e-02 9.99789389e-01 1.13506044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082557843999997 meters Centerline goodness : 0.163522 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.15, Z:1.13 [[ 0.9997935 -0.01116403 -0.01698005 -4.39606724] [ 0.01098374 0.9998827 -0.01067426 -0.14561795] [ 0.01709722 0.01048555 0.99979885 1.13430491] [ 0. 0. 0. 1. ]] SLAMing on 28.142557844 meters Centerline goodness : 0.376042 with order 1 Centerline is valid? [False, False] Translation: X:-4.42, Y:-0.15, Z:1.13 [[ 9.99840580e-01 -2.33687897e-03 -1.77017917e-02 -4.41653079e+00] [ 2.14280714e-03 9.99937483e-01 -1.09744454e-02 -1.53424009e-01] [ 1.77263310e-02 1.09347643e-02 9.99783081e-01 1.13306724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202557843999998 meters Centerline goodness : 0.122675 with order 2 Centerline is valid? [False, False] Translation: X:-4.41, Y:-0.16, Z:1.13 [[ 9.99830421e-01 -1.97428655e-03 -1.83093008e-02 -4.41427729e+00] [ 1.78205476e-03 9.99943186e-01 -1.05095122e-02 -1.55152954e-01] [ 1.83290093e-02 1.04751019e-02 9.99777135e-01 1.13173148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262557843999996 meters Centerline goodness : 0.400948 with order 2 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.16, Z:1.13 [[ 9.99792415e-01 -2.12617298e-03 -2.02634235e-02 -4.46184557e+00] [ 1.92490749e-03 9.99948677e-01 -9.94678657e-03 -1.62981671e-01] [ 2.02835321e-02 9.90571655e-03 9.99745195e-01 1.13382677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322557844 meters Centerline goodness : 0.130370 with order 2 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.16, Z:1.13 [[ 0.99974514 -0.01064735 -0.01990705 -4.43944826] [ 0.01046817 0.99990395 -0.00908351 -0.16296733] [ 0.02000185 0.0088728 0.99976057 1.13406115] [ 0. 0. 0. 1. ]] SLAMing on 28.382557843999997 meters Centerline goodness : 0.169265 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.17, Z:1.13 [[ 9.99771916e-01 -2.73896262e-03 -2.11805072e-02 -4.45782505e+00] [ 2.52925415e-03 9.99947582e-01 -9.92147077e-03 -1.72668931e-01] [ 2.12065715e-02 9.86563696e-03 9.99726438e-01 1.13214589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442557843999996 meters Centerline goodness : 0.175530 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.18, Z:1.13 [[ 9.99796717e-01 -2.56470807e-03 -1.99986878e-02 -4.46154424e+00] [ 2.38621030e-03 9.99957152e-01 -8.94423440e-03 -1.77684903e-01] [ 2.00207703e-02 8.89469511e-03 9.99759998e-01 1.13365324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502557844 meters Centerline goodness : 0.169949 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.18, Z:1.13 [[ 9.99783089e-01 -2.37065186e-03 -2.06919283e-02 -4.45954657e+00] [ 2.20521925e-03 9.99965454e-01 -8.01419046e-03 -1.82677664e-01] [ 2.07102123e-02 7.96682185e-03 9.99753778e-01 1.13325143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562557843999997 meters Centerline goodness : 0.169751 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.19, Z:1.13 [[ 0.99976366 -0.00583116 -0.02094328 -4.45879663] [ 0.00561557 0.99993079 -0.01033838 -0.1911492 ] [ 0.02100211 0.01021833 0.99972721 1.13314355] [ 0. 0. 0. 1. ]] SLAMing on 28.622557843999996 meters Centerline goodness : 0.171736 with order 1 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.20, Z:1.13 [[ 0.99976571 -0.00530858 -0.02098429 -4.45851493] [ 0.00511707 0.99994486 -0.00916984 -0.19638709] [ 0.02103181 0.00906032 0.99973775 1.13290837] [ 0. 0. 0. 1. ]] SLAMing on 28.682557843999998 meters Centerline goodness : 0.376727 with order 1 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.20, Z:1.13 [[ 9.99711332e-01 -4.17313485e-03 -2.36608978e-02 -4.50591451e+00] [ 3.99594289e-03 9.99963656e-01 -7.53115125e-03 -2.04963801e-01] [ 2.36914664e-02 7.43442964e-03 9.99691674e-01 1.13458823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742557843999997 meters Centerline goodness : 0.171200 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.22, Z:1.14 [[ 9.99724789e-01 4.39112776e-03 -2.30448416e-02 -4.48617131e+00] [-4.58472314e-03 9.99954589e-01 -8.35471214e-03 -2.16036757e-01] [ 2.30071085e-02 8.45806705e-03 9.99699522e-01 1.13616949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802557843999995 meters Centerline goodness : 0.255548 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.22, Z:1.13 [[ 0.99971801 0.00473993 -0.02326884 -4.48482796] [-0.0049153 0.99995991 -0.00748519 -0.22052791] [ 0.02323243 0.00759745 0.99970122 1.13495458] [ 0. 0. 0. 1. ]] SLAMing on 28.862557843999998 meters Centerline goodness : 0.142533 with order 3 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.23, Z:1.14 [[ 9.99713195e-01 4.12687135e-03 -2.35901648e-02 -4.48453883e+00] [-4.29597586e-03 9.99965408e-01 -7.12225433e-03 -2.31798979e-01] [ 2.35599561e-02 7.22155441e-03 9.99696343e-01 1.13546137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922557843999996 meters Centerline goodness : 0.136794 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.24, Z:1.14 [[ 0.99971422 0.00463863 -0.02345134 -4.485006 ] [-0.00477489 0.99997202 -0.0057578 -0.23827479] [ 0.02342398 0.00586813 0.9997084 1.1357446 ] [ 0. 0. 0. 1. ]] SLAMing on 28.982557844 meters Centerline goodness : 0.141124 with order 3 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.25, Z:1.14 [[ 9.99722986e-01 1.12640565e-03 -2.35092105e-02 -4.48478245e+00] [-1.31638688e-03 9.99966593e-01 -8.06722968e-03 -2.48397261e-01] [ 2.34993381e-02 8.09594216e-03 9.99691071e-01 1.13555116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042557843999997 meters Centerline goodness : 0.138549 with order 3 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.25, Z:1.14 [[ 0.99970214 -0.0064927 -0.02352619 -4.46315422] [ 0.0063444 0.99995957 -0.00637278 -0.2486963 ] [ 0.02356662 0.00622162 0.99970291 1.13631936] [ 0. 0. 0. 1. ]] SLAMing on 29.102557843999996 meters Centerline goodness : 0.140800 with order 3 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.25, Z:1.14 [[ 0.99969439 -0.00628355 -0.02390924 -4.4619691 ] [ 0.00615281 0.99996574 -0.00553775 -0.25384028] [ 0.02394322 0.00538895 0.9996988 1.13616311] [ 0. 0. 0. 1. ]] SLAMing on 29.162557844 meters Centerline goodness : 0.172764 with order 3 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.26, Z:1.14 [[ 9.99697063e-01 -5.69700446e-03 -2.39442502e-02 -4.46216760e+00] [ 5.59594226e-03 9.99975159e-01 -4.28561756e-03 -2.58877865e-01] [ 2.39680706e-02 4.15032864e-03 9.99704109e-01 1.13654436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222557843999997 meters Centerline goodness : 0.138864 with order 3 Centerline is valid? [False, False] Translation: X:-4.46, Y:-0.26, Z:1.14 [[ 9.99695256e-01 -5.34895310e-03 -2.40994461e-02 -4.46198829e+00] [ 5.26927156e-03 9.99980443e-01 -3.36865454e-03 -2.63119564e-01] [ 2.41169935e-02 3.24064144e-03 9.99703891e-01 1.13698499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282557843999996 meters Centerline goodness : 0.130775 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.27, Z:1.14 [[ 9.99756091e-01 -3.01346778e-04 -2.20831920e-02 -4.48624282e+00] [ 1.76481146e-04 9.99983989e-01 -5.65605971e-03 -2.73291962e-01] [ 2.20845429e-02 5.65078288e-03 9.99740137e-01 1.13755050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342557843999998 meters Centerline goodness : 0.129030 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.27, Z:1.14 [[ 9.99774361e-01 1.38703655e-04 -2.12416699e-02 -4.48871254e+00] [-2.51573194e-04 9.99985865e-01 -5.31101067e-03 -2.73508931e-01] [ 2.12406330e-02 5.31515613e-03 9.99760264e-01 1.13809183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402557843999997 meters Centerline goodness : 0.135304 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.27, Z:1.14 [[ 9.99774825e-01 1.07281160e-03 -2.11931077e-02 -4.48868825e+00] [-1.18269534e-03 9.99985920e-01 -5.17302754e-03 -2.72429685e-01] [ 2.11872596e-02 5.19692770e-03 9.99762018e-01 1.13762832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462557843999996 meters Centerline goodness : 0.140797 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.27, Z:1.14 [[ 9.99767512e-01 1.67859692e-03 -2.14966240e-02 -4.48764531e+00] [-1.78849793e-03 9.99985425e-01 -5.09427315e-03 -2.71324933e-01] [ 2.14877594e-02 5.13153546e-03 9.99755942e-01 1.13688277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522557843999998 meters Centerline goodness : 0.126266 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.27, Z:1.14 [[ 9.99775417e-01 2.02117317e-03 -2.10957209e-02 -4.48871442e+00] [-2.13160153e-03 9.99984138e-01 -5.21345976e-03 -2.69641913e-01] [ 2.10848489e-02 5.25725658e-03 9.99763867e-01 1.13677880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582557843999997 meters Centerline goodness : 0.134542 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.27, Z:1.14 [[ 9.99772933e-01 1.81990247e-03 -2.12313503e-02 -4.48861199e+00] [-1.94259911e-03 9.99981525e-01 -5.75983924e-03 -2.67347298e-01] [ 2.12204757e-02 5.79977537e-03 9.99757998e-01 1.13707290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642557844 meters Centerline goodness : 0.137923 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.26, Z:1.14 [[ 9.99718823e-01 -6.94352076e-03 -2.26729374e-02 -4.50883654e+00] [ 6.84758500e-03 9.99967283e-01 -4.30618962e-03 -2.64219072e-01] [ 2.27020957e-02 4.14972395e-03 9.99733662e-01 1.13570567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702557843999998 meters Centerline goodness : 0.182083 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.27, Z:1.14 [[ 0.99971085 -0.01001397 -0.02186155 -4.51207701] [ 0.00987876 0.99993146 -0.00628396 -0.27010759] [ 0.02192298 0.00606618 0.99974126 1.13738917] [ 0. 0. 0. 1. ]] SLAMing on 29.762557843999996 meters Centerline goodness : 0.137189 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.28, Z:1.14 [[ 0.99967186 -0.01397912 -0.02146541 -4.51365405] [ 0.0137831 0.9998622 -0.0092528 -0.27550478] [ 0.0215918 0.00895391 0.99972677 1.13855237] [ 0. 0. 0. 1. ]] SLAMing on 29.822557844 meters Centerline goodness : 0.126857 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.28, Z:1.14 [[ 0.99962049 -0.01691022 -0.02174689 -4.51068969] [ 0.01667056 0.99979881 -0.01115488 -0.28252945] [ 0.02193114 0.01078812 0.99970128 1.13623833] [ 0. 0. 0. 1. ]] SLAMing on 29.882557843999997 meters Centerline goodness : 0.202254 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.29, Z:1.14 [[ 0.99960529 -0.01668962 -0.02259909 -4.50806522] [ 0.01646949 0.99981544 -0.00989201 -0.29168771] [ 0.02276001 0.00951591 0.99969567 1.13574777] [ 0. 0. 0. 1. ]] SLAMing on 29.942557843999996 meters Centerline goodness : 0.131255 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.30, Z:1.14 [[ 0.9997094 -0.00804293 -0.02272502 -4.48881498] [ 0.00780144 0.99991237 -0.01069527 -0.3018469 ] [ 0.02280905 0.01051488 0.99968454 1.13884722] [ 0. 0. 0. 1. ]] SLAMing on 30.002557844 meters Centerline goodness : 0.125651 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.31, Z:1.14 [[ 0.99973561 -0.00678172 -0.02197084 -4.49154803] [ 0.0065831 0.99993692 -0.00910017 -0.3076445 ] [ 0.02203117 0.00895313 0.99971719 1.14013783] [ 0. 0. 0. 1. ]] SLAMing on 30.062557843999997 meters Centerline goodness : 0.124753 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.31, Z:1.14 [[ 0.99975127 -0.00600085 -0.02147998 -4.49278798] [ 0.00582467 0.99994896 -0.00825485 -0.31028148] [ 0.02152842 0.00812768 0.9997352 1.14005757] [ 0. 0. 0. 1. ]] SLAMing on 30.122557843999996 meters Centerline goodness : 0.141792 with order 2 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.31, Z:1.14 [[ 0.99974798 -0.00526425 -0.02182366 -4.49169233] [ 0.00510015 0.99995835 -0.00756818 -0.31253232] [ 0.02186259 0.00745497 0.99973319 1.13955763] [ 0. 0. 0. 1. ]] SLAMing on 30.182557843999998 meters Centerline goodness : 0.137535 with order 2 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.31, Z:1.14 [[ 0.99973757 -0.00502388 -0.02235085 -4.49005432] [ 0.00486072 0.99996119 -0.00734831 -0.31322633] [ 0.0223869 0.00723774 0.99972318 1.13895715] [ 0. 0. 0. 1. ]] SLAMing on 30.242557843999997 meters Centerline goodness : 0.341462 with order 1 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.32, Z:1.14 [[ 9.99746942e-01 2.68771774e-03 -2.23344604e-02 -4.51053229e+00] [-2.86485114e-03 9.99964669e-01 -7.90273763e-03 -3.23105960e-01] [ 2.23124310e-02 7.96472268e-03 9.99719320e-01 1.13733987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302557843999995 meters Centerline goodness : 0.127679 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.33, Z:1.14 [[ 9.99742919e-01 2.81973049e-03 -2.24976700e-02 -4.50995032e+00] [-2.98746101e-03 9.99967969e-01 -7.42533882e-03 -3.25521300e-01] [ 2.24760119e-02 7.49064082e-03 9.99719320e-01 1.13704902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362557843999998 meters Centerline goodness : 0.143320 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.32, Z:1.14 [[ 0.99979158 -0.00498357 -0.01979788 -4.49065328] [ 0.00486283 0.99996931 -0.00614208 -0.32403897] [ 0.01982788 0.00604453 0.99978514 1.13812153] [ 0. 0. 0. 1. ]] SLAMing on 30.422557843999996 meters Centerline goodness : 0.121896 with order 2 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.33, Z:1.14 [[ 0.99978729 -0.00806609 -0.01898178 -4.4943002 ] [ 0.00791153 0.99993505 -0.008204 -0.330801 ] [ 0.01904672 0.00805208 0.99978617 1.1404024 ] [ 0. 0. 0. 1. ]] SLAMing on 30.482557844 meters Centerline goodness : 0.128292 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.33, Z:1.14 [[ 0.99974469 -0.01199891 -0.01914638 -4.49375905] [ 0.01177986 0.99986433 -0.01151301 -0.33477052] [ 0.01928193 0.01128453 0.9997504 1.14034969] [ 0. 0. 0. 1. ]] SLAMing on 30.542557843999997 meters Centerline goodness : 0.142114 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.34, Z:1.14 [[ 0.99975063 -0.01201912 -0.01882055 -4.49446338] [ 0.01182248 0.99987472 -0.01052482 -0.34153366] [ 0.01894469 0.01029969 0.99976748 1.14048286] [ 0. 0. 0. 1. ]] SLAMing on 30.602557843999996 meters Centerline goodness : 0.228820 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.35, Z:1.14 [[ 9.99824315e-01 -4.20068485e-03 -1.82672846e-02 -4.51424723e+00] [ 4.00698834e-03 9.99935502e-01 -1.06271706e-02 -3.50101855e-01] [ 1.83107478e-02 1.05521068e-02 9.99776660e-01 1.13840837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662557844 meters Centerline goodness : 0.364287 with order 1 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.35, Z:1.14 [[ 9.99807231e-01 -3.97300054e-03 -1.92280125e-02 -4.51132646e+00] [ 3.77034351e-03 9.99937086e-01 -1.05644758e-02 -3.49878033e-01] [ 1.92687755e-02 1.04899431e-02 9.99759309e-01 1.13735355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722557843999997 meters Centerline goodness : 0.338843 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.35, Z:1.14 [[ 9.99789492e-01 4.44184567e-03 -2.00310004e-02 -4.49046503e+00] [-4.69942955e-03 9.99906641e-01 -1.28305773e-02 -3.53847576e-01] [ 1.99721389e-02 1.29220106e-02 9.99717028e-01 1.14014986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782557843999996 meters Centerline goodness : 0.339611 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.35, Z:1.14 [[ 0.999796 0.00462681 -0.01966096 -4.49159671] [-0.00487251 0.9999104 -0.01246759 -0.35498506] [ 0.01960152 0.01256084 0.99972897 1.1403973 ] [ 0. 0. 0. 1. ]] SLAMing on 30.842557843999998 meters Centerline goodness : 0.337428 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.36, Z:1.14 [[ 9.99814083e-01 1.18194923e-03 -1.92458276e-02 -4.49236347e+00] [-1.47185518e-03 9.99885567e-01 -1.50561236e-02 -3.59914884e-01] [ 1.92258296e-02 1.50816515e-02 9.99701411e-01 1.13972896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902557843999997 meters Centerline goodness : 0.337463 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.37, Z:1.14 [[ 9.99799509e-01 1.15578844e-03 -1.99901493e-02 -4.49065888e+00] [-1.43878661e-03 9.99898873e-01 -1.41482979e-02 -3.65246755e-01] [ 1.99717753e-02 1.41742229e-02 9.99700065e-01 1.14008780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962557843999996 meters Centerline goodness : 0.339630 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.37, Z:1.14 [[ 9.99796186e-01 1.30242443e-03 -2.01467318e-02 -4.48981679e+00] [-1.58064973e-03 9.99903523e-01 -1.38001932e-02 -3.66823269e-01] [ 2.01268144e-02 1.38292255e-02 9.99701787e-01 1.13932007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022557843999998 meters Centerline goodness : 0.339803 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.37, Z:1.14 [[ 9.99724613e-01 1.63183331e-03 -2.34101323e-02 -4.53353707e+00] [-1.90446328e-03 9.99930576e-01 -1.16282465e-02 -3.70814799e-01] [ 2.33895317e-02 1.16696280e-02 9.99658316e-01 1.13968344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082557843999997 meters Centerline goodness : 0.348103 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.37, Z:1.14 [[ 9.99719376e-01 1.47641814e-03 -2.36429579e-02 -4.53362869e+00] [-1.76799486e-03 9.99922588e-01 -1.23163469e-02 -3.68728464e-01] [ 2.36229435e-02 1.23546913e-02 9.99644596e-01 1.14130132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142557844 meters Centerline goodness : 0.119421 with order 3 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.37, Z:1.14 [[ 9.99721330e-01 1.51091172e-03 -2.35579935e-02 -4.53369947e+00] [-1.80332618e-03 9.99921538e-01 -1.23962371e-02 -3.68089417e-01] [ 2.35374155e-02 1.24352654e-02 9.99645614e-01 1.14095479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202557843999998 meters Centerline goodness : 0.137678 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.37, Z:1.14 [[ 9.99733546e-01 1.77339673e-03 -2.30150411e-02 -4.53558384e+00] [-2.04069530e-03 9.99930684e-01 -1.15957969e-02 -3.71949670e-01] [ 2.29928818e-02 1.16396738e-02 9.99667868e-01 1.14180188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262557843999996 meters Centerline goodness : 0.338943 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.37, Z:1.14 [[ 9.99739918e-01 1.68399811e-03 -2.27433480e-02 -4.53685733e+00] [-1.94420443e-03 9.99932857e-01 -1.14237242e-02 -3.73199820e-01] [ 2.27225834e-02 1.14649708e-02 9.99676067e-01 1.14269477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322557844 meters Centerline goodness : 0.129307 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.38, Z:1.14 [[ 9.99690077e-01 6.30629878e-04 -2.48867979e-02 -4.58450506e+00] [-8.66748220e-04 9.99954707e-01 -9.47804859e-03 -3.81357710e-01] [ 2.48796935e-02 9.49668171e-03 9.99645344e-01 1.14351939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382557843999997 meters Centerline goodness : 0.122298 with order 3 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.38, Z:1.14 [[ 9.99684138e-01 7.93398260e-04 -2.51195952e-02 -4.58341379e+00] [-1.02484843e-03 9.99957132e-01 -9.20239632e-03 -3.82372087e-01] [ 2.51112172e-02 9.22523341e-03 9.99642097e-01 1.14266537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442557843999996 meters Centerline goodness : 0.136588 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.38, Z:1.14 [[ 9.99663078e-01 7.60342829e-04 -2.59451805e-02 -4.58125140e+00] [-1.01533924e-03 9.99951301e-01 -9.81651870e-03 -3.80415013e-01] [ 2.59364531e-02 9.83955446e-03 9.99615168e-01 1.14302004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502557844 meters Centerline goodness : 0.340512 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.38, Z:1.14 [[ 9.99663063e-01 8.04068021e-04 -2.59444287e-02 -4.58098578e+00] [-1.05963872e-03 9.99951040e-01 -9.83845264e-03 -3.80189460e-01] [ 2.59352477e-02 9.86262943e-03 9.99614972e-01 1.14246905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562557843999997 meters Centerline goodness : 0.139992 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.38, Z:1.14 [[ 9.99682055e-01 5.62296472e-04 -2.52086028e-02 -4.58334769e+00] [-8.06571837e-04 9.99952812e-01 -9.68103843e-03 -3.81137086e-01] [ 2.52019696e-02 9.69829293e-03 9.99635335e-01 1.14297077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622557843999996 meters Centerline goodness : 0.140220 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.38, Z:1.14 [[ 9.99664999e-01 2.24389601e-04 -2.58812732e-02 -4.58168408e+00] [-4.72068976e-04 9.99954151e-01 -9.56411678e-03 -3.82864452e-01] [ 2.58779405e-02 9.57313053e-03 9.99619271e-01 1.14304260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682557843999998 meters Centerline goodness : 0.121581 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.38, Z:1.14 [[ 0.99963367 -0.00839085 -0.02573172 -4.55984851] [ 0.00815821 0.99992501 -0.00913285 -0.38207832] [ 0.02580642 0.00891958 0.99962717 1.14403234] [ 0. 0. 0. 1. ]] SLAMing on 31.742557843999997 meters Centerline goodness : 0.340744 with order 1 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.39, Z:1.14 [[ 0.99963597 -0.00807266 -0.02574426 -4.5596959 ] [ 0.007867 0.99993641 -0.00807976 -0.38550491] [ 0.02580785 0.00787429 0.99963591 1.14326569] [ 0. 0. 0. 1. ]] SLAMing on 31.802557843999995 meters Centerline goodness : 0.317717 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.39, Z:1.14 [[ 9.99687682e-01 1.06684180e-03 -2.49679898e-02 -4.54310209e+00] [-1.25392374e-03 9.99971250e-01 -7.47841491e-03 -3.94353048e-01] [ 2.49592936e-02 7.50738722e-03 9.99660279e-01 1.14411137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862557843999998 meters Centerline goodness : 0.215054 with order 3 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.40, Z:1.14 [[ 9.99682148e-01 1.33641925e-03 -2.51757145e-02 -4.54229827e+00] [-1.50808427e-03 9.99975736e-01 -6.80092305e-03 -3.98003905e-01] [ 2.51660148e-02 6.83672846e-03 9.99659908e-01 1.14378905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922557843999996 meters Centerline goodness : 0.199097 with order 3 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.40, Z:1.14 [[ 9.99672824e-01 1.63697689e-03 -2.55257672e-02 -4.54061995e+00] [-1.80793705e-03 9.99976081e-01 -6.67591322e-03 -3.97976467e-01] [ 2.55142284e-02 6.71987801e-03 9.99651873e-01 1.14240318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982557844 meters Centerline goodness : 0.134324 with order 1 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.40, Z:1.15 [[ 9.99686462e-01 4.03853132e-03 -2.47116865e-02 -4.54549298e+00] [-4.15407596e-03 9.99980671e-01 -4.62616120e-03 -3.96034993e-01] [ 2.46925260e-02 4.72736495e-03 9.99683916e-01 1.14547271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042557844 meters Centerline goodness : 0.215247 with order 3 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.40, Z:1.15 [[ 9.99687203e-01 4.13103947e-03 -2.46663994e-02 -4.54579239e+00] [-4.24425315e-03 9.99980691e-01 -4.53920579e-03 -3.96323442e-01] [ 2.46471715e-02 4.64247638e-03 9.99685433e-01 1.14585583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102557844 meters Centerline goodness : 0.214923 with order 3 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.40, Z:1.15 [[ 9.99687777e-01 4.29354474e-03 -2.46153382e-02 -4.54589648e+00] [-4.39327528e-03 9.99982354e-01 -3.99891393e-03 -3.99092528e-01] [ 2.45977343e-02 4.10580733e-03 9.99688999e-01 1.14585559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162557844 meters Centerline goodness : 0.195047 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.40, Z:1.15 [[ 9.99687050e-01 -4.65852681e-03 -2.45784318e-02 -4.52309889e+00] [ 4.55780787e-03 9.99980992e-01 -4.15228936e-03 -3.99793646e-01] [ 2.45973081e-02 4.03896614e-03 9.99689281e-01 1.14592186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222557844 meters Centerline goodness : 0.136766 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.40, Z:1.15 [[ 9.99701268e-01 -4.74733602e-03 -2.39757502e-02 -4.52524369e+00] [ 4.66481991e-03 9.99983007e-01 -3.49640633e-03 -4.02606679e-01] [ 2.39919414e-02 3.38351928e-03 9.99706426e-01 1.14645279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282557844 meters Centerline goodness : 0.135803 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.40, Z:1.15 [[ 9.99684059e-01 -4.32758370e-03 -2.47599140e-02 -4.52259066e+00] [ 4.25695623e-03 9.99986721e-01 -2.90449136e-03 -4.04690960e-01] [ 2.47721547e-02 2.79817184e-03 9.99689207e-01 1.14545486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342557844 meters Centerline goodness : 0.155074 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.41, Z:1.14 [[ 9.99673500e-01 -4.01741890e-03 -2.52339795e-02 -4.52072640e+00] [ 3.95513986e-03 9.99989010e-01 -2.51748815e-03 -4.05625630e-01] [ 2.52438160e-02 2.41686227e-03 9.99678403e-01 1.14432173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402557844 meters Centerline goodness : 0.121600 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.41, Z:1.14 [[ 9.99670965e-01 -3.82214181e-03 -2.53644042e-02 -4.52031267e+00] [ 3.77372121e-03 9.99990965e-01 -1.95659035e-03 -4.07388116e-01] [ 2.53716534e-02 1.86022837e-03 9.99676357e-01 1.14383179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462557844 meters Centerline goodness : 0.193992 with order 3 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.42, Z:1.14 [[ 9.99692833e-01 3.44593944e-03 -2.45431368e-02 -4.54044694e+00] [-3.53743254e-03 9.99986952e-01 -3.68540823e-03 -4.16984800e-01] [ 2.45301169e-02 3.77109589e-03 9.99691979e-01 1.14321196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522557844 meters Centerline goodness : 0.122515 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.41, Z:1.14 [[ 9.99706791e-01 -3.97511861e-03 -2.38857813e-02 -4.52009220e+00] [ 3.91130290e-03 9.99988657e-01 -2.71782810e-03 -4.13988725e-01] [ 2.38963140e-02 2.62360669e-03 9.99711000e-01 1.14458555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582557844 meters Centerline goodness : 0.135122 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.41, Z:1.15 [[ 9.99712717e-01 1.66431902e-04 -2.39678059e-02 -4.52034873e+00] [-1.37759191e-04 9.99999273e-01 1.19794717e-03 -4.13955891e-01] [ 2.39679879e-02 -1.19430124e-03 9.99712013e-01 1.14563631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642557844 meters Centerline goodness : 0.119850 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.41, Z:1.15 [[ 9.99721988e-01 3.74586964e-04 -2.35755576e-02 -4.52113490e+00] [-3.47209513e-04 9.99999261e-01 1.16534691e-03 -4.13232169e-01] [ 2.35759767e-02 -1.15683727e-03 9.99721379e-01 1.14525586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702557844 meters Centerline goodness : 0.121419 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.41, Z:1.15 [[ 9.99743776e-01 6.85264542e-04 -2.26254700e-02 -4.52380272e+00] [-6.58200601e-04 9.99999059e-01 1.20359675e-03 -4.12365292e-01] [ 2.26262735e-02 -1.18839626e-03 9.99743287e-01 1.14570525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762557844 meters Centerline goodness : 0.114216 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.41, Z:1.15 [[ 9.99745971e-01 5.25699980e-04 -2.25325826e-02 -4.52454343e+00] [-5.07260376e-04 9.99999532e-01 8.24060732e-04 -4.11525613e-01] [ 2.25330053e-02 -8.12421510e-04 9.99745770e-01 1.14676969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822557844 meters Centerline goodness : 0.111914 with order 3 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.41, Z:1.15 [[ 9.99752031e-01 4.99678696e-04 -2.22626946e-02 -4.52505789e+00] [-4.64351527e-04 9.99998625e-01 1.59197380e-03 -4.14130247e-01] [ 2.22634594e-02 -1.58124133e-03 9.99750888e-01 1.14573518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882557844 meters Centerline goodness : 0.086388 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.42, Z:1.15 [[ 9.99765936e-01 2.02177440e-04 -2.16340576e-02 -4.52730086e+00] [-1.58657279e-04 9.99997961e-01 2.01334794e-03 -4.16888083e-01] [ 2.16344206e-02 -2.00944429e-03 9.99763929e-01 1.14707744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942557844 meters Centerline goodness : 0.187127 with order 2 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.42, Z:1.15 [[ 9.99756813e-01 3.19626551e-04 -2.20502489e-02 -4.52624070e+00] [-2.67071097e-04 9.99997117e-01 2.38634407e-03 -4.18650721e-01] [ 2.20509481e-02 -2.37987475e-03 9.99754016e-01 1.14698910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002557844 meters Centerline goodness : 0.175086 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.42, Z:1.15 [[ 9.99753163e-01 3.32859065e-04 -2.22149162e-02 -4.52575722e+00] [-2.75562320e-04 9.99996628e-01 2.58221285e-03 -4.19949775e-01] [ 2.22157008e-02 -2.57545387e-03 9.99749884e-01 1.14692584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062557844000004 meters Centerline goodness : 0.136568 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.42, Z:1.15 [[ 9.99767081e-01 9.19048437e-05 -2.15818332e-02 -4.52782731e+00] [-3.33126130e-05 9.99996313e-01 2.71523046e-03 -4.20654133e-01] [ 2.15820032e-02 -2.71387909e-03 9.99763398e-01 1.14722658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122557844 meters Centerline goodness : 0.204802 with order 3 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.42, Z:1.15 [[ 9.99763119e-01 6.73567724e-05 -2.17646584e-02 -4.52712107e+00] [-7.52040375e-06 9.99996221e-01 2.74931470e-03 -4.20968424e-01] [ 2.17647614e-02 -2.74849977e-03 9.99759341e-01 1.14682102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182557844 meters Centerline goodness : 0.144064 with order 1 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.42, Z:1.15 [[ 9.99740530e-01 7.98724517e-03 -2.13325269e-02 -4.50513281e+00] [-7.98526544e-03 9.99968101e-01 1.77985878e-04 -4.21268326e-01] [ 2.13332680e-02 -7.59380671e-06 9.99772420e-01 1.14652287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242557844000004 meters Centerline goodness : 0.147632 with order 1 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.42, Z:1.15 [[ 9.99739148e-01 7.74061121e-03 -2.14876409e-02 -4.50473026e+00] [-7.75056791e-03 9.99969892e-01 -3.80125657e-04 -4.18888658e-01] [ 2.14840516e-02 5.46567921e-04 9.99769042e-01 1.14650021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302557844 meters Centerline goodness : 0.165324 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.41, Z:1.15 [[ 9.99801558e-01 1.05992353e-03 -1.98927450e-02 -4.48804309e+00] [-1.03548498e-03 9.99998697e-01 1.23877545e-03 -4.10164793e-01] [ 1.98940321e-02 -1.21793099e-03 9.99801352e-01 1.14939837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362557844 meters Centerline goodness : 0.303473 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.41, Z:1.15 [[ 9.99795610e-01 5.14681306e-04 -2.02107009e-02 -4.48734475e+00] [-4.93755357e-04 9.99999337e-01 1.04036601e-03 -4.11053895e-01] [ 2.02112230e-02 -1.03017423e-03 9.99795202e-01 1.14973292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422557844 meters Centerline goodness : 0.160224 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.41, Z:1.15 [[ 9.99782715e-01 3.57626664e-04 -2.08421238e-02 -4.48547501e+00] [-3.36409296e-04 9.99999422e-01 1.02150136e-03 -4.11661170e-01] [ 2.08424771e-02 -1.01426792e-03 9.99782257e-01 1.14923830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482557844 meters Centerline goodness : 0.220901 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.41, Z:1.15 [[ 9.99786411e-01 5.38782037e-04 -2.06601615e-02 -4.48532503e+00] [-5.16664479e-04 9.99999288e-01 1.07586420e-03 -4.10712411e-01] [ 2.06607265e-02 -1.06496004e-03 9.99785977e-01 1.14832405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542557844 meters Centerline goodness : 0.281967 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.41, Z:1.15 [[ 9.99774913e-01 5.86971956e-04 -2.12080037e-02 -4.48335689e+00] [-5.72148906e-04 9.99999588e-01 7.04997614e-04 -4.08663750e-01] [ 2.12084088e-02 -6.92704791e-04 9.99774836e-01 1.14727332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602557844 meters Centerline goodness : 0.147869 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.41, Z:1.15 [[ 9.99769825e-01 5.65336351e-04 -2.14470801e-02 -4.48239498e+00] [-5.62280939e-04 9.99999831e-01 1.48492885e-04 -4.05680439e-01] [ 2.14471604e-02 -1.36399422e-04 9.99769974e-01 1.14654282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662557844 meters Centerline goodness : 0.152854 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.40, Z:1.15 [[ 9.99792369e-01 7.42531387e-04 -2.03634104e-02 -4.48530812e+00] [-7.46242594e-04 9.99999706e-01 -1.74650615e-04 -4.03044104e-01] [ 2.03632748e-02 1.89810397e-04 9.99792629e-01 1.14679617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722557844 meters Centerline goodness : 0.156117 with order 2 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.40, Z:1.15 [[ 9.99791571e-01 1.03595160e-02 -1.75924907e-02 -4.46641534e+00] [-1.03791162e-02 9.99945612e-01 -1.02318051e-03 -4.02395105e-01] [ 1.75809342e-02 1.20556176e-03 9.99844717e-01 1.14637072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782557844 meters Centerline goodness : 0.318907 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.40, Z:1.15 [[ 9.99802068e-01 8.48317823e-04 -1.98772329e-02 -4.48479264e+00] [-8.54366241e-04 9.99999591e-01 -2.95798681e-04 -3.96282552e-01] [ 1.98769739e-02 3.12722570e-04 9.99802385e-01 1.14550978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842557844 meters Centerline goodness : 0.337890 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.39, Z:1.15 [[ 9.99841021e-01 1.67498431e-03 -1.77518213e-02 -4.44034332e+00] [-1.70057432e-03 9.99997537e-01 -1.42654560e-03 -3.93641790e-01] [ 1.77493881e-02 1.45650710e-03 9.99841406e-01 1.14535967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902557844 meters Centerline goodness : 0.140440 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.39, Z:1.15 [[ 9.99841369e-01 1.71412753e-03 -1.77284817e-02 -4.44029993e+00] [-1.73687863e-03 9.99997688e-01 -1.26799029e-03 -3.94311888e-01] [ 1.77262672e-02 1.29858137e-03 9.99842034e-01 1.14514591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962557844 meters Centerline goodness : 0.394146 with order 3 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.39, Z:1.15 [[ 9.99894406e-01 1.93103570e-03 -1.44030240e-02 -4.40008794e+00] [-1.97791348e-03 9.99992791e-01 -3.24118339e-03 -3.90517244e-01] [ 1.43966613e-02 3.26932907e-03 9.99891018e-01 1.14584557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022557844 meters Centerline goodness : 0.336295 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.39, Z:1.15 [[ 9.99895638e-01 1.88331026e-03 -1.43236325e-02 -4.40061509e+00] [-1.93124978e-03 9.99992578e-01 -3.33378790e-03 -3.90254851e-01] [ 1.43172476e-02 3.36110249e-03 9.99891854e-01 1.14646180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082557844 meters Centerline goodness : 0.339670 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.39, Z:1.15 [[ 9.99887963e-01 1.78076803e-03 -1.48623605e-02 -4.39854451e+00] [-1.83154577e-03 9.99992530e-01 -3.40362056e-03 -3.90374742e-01] [ 1.48561884e-02 3.43046033e-03 9.99883756e-01 1.14525633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142557844 meters Centerline goodness : 0.340524 with order 1 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.39, Z:1.15 [[ 9.99882377e-01 1.80715706e-03 -1.52304352e-02 -4.39756610e+00] [-1.85029628e-03 9.99994315e-01 -2.81882015e-03 -3.92933133e-01] [ 1.52252546e-02 2.84666941e-03 9.99880037e-01 1.14512849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202557844 meters Centerline goodness : 0.215257 with order 3 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.40, Z:1.15 [[ 9.99889910e-01 5.19991241e-04 -1.48289582e-02 -4.39954709e+00] [-5.70381081e-04 9.99994078e-01 -3.39404333e-03 -3.95166675e-01] [ 1.48271055e-02 3.40212784e-03 9.99884285e-01 1.14669146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262557844 meters Centerline goodness : 0.244333 with order 1 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.40, Z:1.15 [[ 9.99873459e-01 -8.16020576e-03 -1.36556545e-02 -4.37808513e+00] [ 8.12312235e-03 9.99963173e-01 -2.76887563e-03 -3.95054991e-01] [ 1.36777462e-02 2.65759871e-03 9.99902924e-01 1.14712120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322557844 meters Centerline goodness : 0.131749 with order 3 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.40, Z:1.15 [[ 9.99872902e-01 -8.79605498e-03 -1.32969716e-02 -4.37969185e+00] [ 8.77008170e-03 9.99959521e-01 -2.01037434e-03 -3.98787527e-01] [ 1.33141167e-02 1.89350330e-03 9.99909570e-01 1.14678093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382557844 meters SLAMing on 34.442557844 meters Centerline goodness : 0.213357 with order 3 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.40, Z:1.15 [[ 9.99868252e-01 -8.76834337e-03 -1.36599421e-02 -4.37890961e+00] [ 8.74246633e-03 9.99959877e-01 -1.95293877e-03 -3.98771754e-01] [ 1.36765180e-02 1.83325990e-03 9.99904791e-01 1.14697024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502557844 meters Centerline goodness : 0.125857 with order 3 Centerline is valid? [False, False] Translation: X:-4.38, Y:-0.40, Z:1.15 [[ 9.99878476e-01 -5.51613996e-03 -1.45809727e-02 -4.37653825e+00] [ 5.53299245e-03 9.99984070e-01 1.11569882e-03 -3.96716320e-01] [ 1.45745861e-02 -1.19623964e-03 9.99893070e-01 1.14652290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562557844000004 meters Centerline goodness : 0.132168 with order 3 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.39, Z:1.15 [[ 9.99936130e-01 -4.09537018e-03 -1.05339310e-02 -4.33726147e+00] [ 4.10680250e-03 9.99991001e-01 1.06388361e-03 -3.93512820e-01] [ 1.05294792e-02 -1.10707643e-03 9.99943951e-01 1.14726126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622557844 meters Centerline goodness : 0.128795 with order 1 Centerline is valid? [False, False] Translation: X:-4.34, Y:-0.39, Z:1.15 [[ 9.99929317e-01 -4.81543947e-03 -1.08707127e-02 -4.33664368e+00] [ 4.82285056e-03 9.99988155e-01 6.55636728e-04 -3.93410995e-01] [ 1.08674267e-02 -7.08018208e-04 9.99940697e-01 1.14768062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682557844 meters SLAMing on 34.742557844000004 meters Centerline goodness : 0.316447 with order 1 Centerline is valid? [False, False] Translation: X:-4.31, Y:-0.39, Z:1.15 [[ 9.99820576e-01 -1.64506719e-02 -9.39106154e-03 -4.31435442e+00] [ 1.64400580e-02 9.99864125e-01 -1.20629861e-03 -3.87021491e-01] [ 9.40962996e-03 1.05169257e-03 9.99955175e-01 1.14667627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802557844 meters Centerline goodness : 0.131457 with order 3 Centerline is valid? [False, False] Translation: X:-4.31, Y:-0.38, Z:1.14 [[ 9.99848430e-01 -1.34953889e-02 -1.09995929e-02 -4.30896548e+00] [ 1.35152213e-02 9.99907167e-01 1.73067989e-03 -3.84461164e-01] [ 1.09752156e-02 -1.87907951e-03 9.99938005e-01 1.14396445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862557844 meters Centerline goodness : 0.415520 with order 2 Centerline is valid? [False, False] Translation: X:-4.31, Y:-0.38, Z:1.14 [[ 9.99842157e-01 -1.36977665e-02 -1.13151763e-02 -4.30792879e+00] [ 1.37127333e-02 9.99905199e-01 1.24619723e-03 -3.82467017e-01] [ 1.12970335e-02 -1.40116253e-03 9.99935205e-01 1.14362398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922557844 meters Centerline goodness : 0.326298 with order 1 Centerline is valid? [False, False] Translation: X:-4.29, Y:-0.38, Z:1.14 [[ 9.99945533e-01 -4.76589825e-03 -9.28535479e-03 -4.28949811e+00] [ 4.76134036e-03 9.99988533e-01 -5.12913590e-04 -3.81357255e-01] [ 9.28769281e-03 4.68674918e-04 9.99956759e-01 1.14495099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982557844 meters Centerline goodness : 0.344182 with order 1 Centerline is valid? [False, False] Translation: X:-4.29, Y:-0.38, Z:1.14 [[ 9.99944094e-01 -2.20193497e-03 -1.03422121e-02 -4.28532062e+00] [ 2.22169862e-03 9.99995727e-01 1.89986996e-03 -3.78239213e-01] [ 1.03379846e-02 -1.92274102e-03 9.99944713e-01 1.14313508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042557844 meters Centerline goodness : 0.406204 with order 2 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.38, Z:1.14 [[ 9.99939863e-01 4.94585194e-03 -9.78822144e-03 -4.26253345e+00] [-4.96055091e-03 9.99986604e-01 -1.47799150e-03 -3.77146748e-01] [ 9.78078039e-03 1.52645759e-03 9.99951002e-01 1.14214925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102557844 meters SLAMing on 35.162557844 meters Centerline goodness : 0.166558 with order 1 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.36, Z:1.14 [[ 9.99964544e-01 1.04886687e-03 -8.35527827e-03 -4.24181952e+00] [-1.03048797e-03 9.99997041e-01 2.20367645e-03 -3.62617868e-01] [ 8.35756491e-03 -2.19498831e-03 9.99962666e-01 1.14267114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222557844 meters Centerline goodness : 0.141821 with order 3 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.36, Z:1.14 [[ 9.99952257e-01 1.20004064e-04 -9.77087589e-03 -4.23743162e+00] [-1.10173521e-04 9.99999487e-01 1.00663871e-03 -3.58157469e-01] [ 9.77099168e-03 -1.00551416e-03 9.99951757e-01 1.14127720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282557844 meters Centerline goodness : 0.145028 with order 3 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.36, Z:1.14 [[ 9.99943648e-01 -3.69823660e-04 -1.06095894e-02 -4.23512842e+00] [ 3.79603679e-04 9.99999505e-01 9.19810396e-04 -3.58113461e-01] [ 1.06092440e-02 -9.23786003e-04 9.99943294e-01 1.14090237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342557844 meters Centerline goodness : 0.205492 with order 3 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.36, Z:1.14 [[ 9.99949275e-01 -9.29140035e-04 -1.00292031e-02 -4.23670108e+00] [ 9.38774220e-04 9.99999102e-01 9.55948173e-04 -3.58593172e-01] [ 1.00283059e-02 -9.65314839e-04 9.99949249e-01 1.14138699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402557844 meters Centerline goodness : 0.135763 with order 3 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.36, Z:1.14 [[ 9.99952301e-01 -1.04959316e-03 -9.71052529e-03 -4.23792978e+00] [ 1.05902784e-03 9.99998972e-01 9.66502434e-04 -3.57378700e-01] [ 9.70950088e-03 -9.76740049e-04 9.99952385e-01 1.14215275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462557844 meters Centerline goodness : 0.132816 with order 3 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.35, Z:1.14 [[ 9.99945449e-01 2.66434612e-03 -1.00994815e-02 -4.23725439e+00] [-2.61999769e-03 9.99986880e-01 4.40184936e-03 -3.54492486e-01] [ 1.01110770e-02 -4.37514862e-03 9.99939310e-01 1.14260576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522557844 meters Centerline goodness : 0.133868 with order 3 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.35, Z:1.14 [[ 0.99993872 0.00516427 -0.0097917 -4.23912942] [-0.00510396 0.99996791 0.00617452 -0.34743302] [ 0.00982327 -0.00612417 0.999933 1.14397166] [ 0. 0. 0. 1. ]] SLAMing on 35.582557844 meters Centerline goodness : 0.138916 with order 3 Centerline is valid? [False, False] Translation: X:-4.24, Y:-0.34, Z:1.14 [[ 0.99993628 0.00620603 -0.00942971 -4.24044278] [-0.0061465 0.99996108 0.00632896 -0.33660164] [ 0.00946862 -0.00627059 0.99993551 1.14456853] [ 0. 0. 0. 1. ]] SLAMing on 35.642557844 meters Centerline goodness : 0.230147 with order 3 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.33, Z:1.14 [[ 9.99946559e-01 -2.78410064e-03 -9.95629849e-03 -4.25880667e+00] [ 2.85883785e-03 9.99967787e-01 7.50018836e-03 -3.27512595e-01] [ 9.93509648e-03 -7.52825098e-03 9.99922307e-01 1.14259528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702557844 meters Centerline goodness : 0.123257 with order 2 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.32, Z:1.14 [[ 9.99941805e-01 -3.53282179e-03 -1.01933930e-02 -4.25793311e+00] [ 3.60021301e-03 9.99971735e-01 6.60050719e-03 -3.23653596e-01] [ 1.01697864e-02 -6.63682146e-03 9.99926261e-01 1.14210798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762557844 meters Centerline goodness : 0.131537 with order 3 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.32, Z:1.14 [[ 9.99950078e-01 -1.96955496e-03 -9.79604433e-03 -4.26095396e+00] [ 2.04831944e-03 9.99965606e-01 8.03691460e-03 -3.18170936e-01] [ 9.77987825e-03 -8.05657881e-03 9.99919720e-01 1.14430625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822557844 meters Centerline goodness : 0.146226 with order 2 Centerline is valid? [False, False] Translation: X:-4.26, Y:-0.31, Z:1.14 [[ 9.99949668e-01 -2.39649450e-03 -9.74256047e-03 -4.26089477e+00] [ 2.46709298e-03 9.99970741e-01 7.24085080e-03 -3.14759578e-01] [ 9.72492275e-03 -7.26452216e-03 9.99926324e-01 1.14400537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882557844 meters Centerline goodness : 0.133428 with order 3 Centerline is valid? [False, False] Translation: X:-4.30, Y:-0.31, Z:1.14 [[ 0.99989017 -0.00459567 -0.01408977 -4.29947367] [ 0.00468735 0.99996801 0.00648063 -0.30690293] [ 0.01405954 -0.00654596 0.99987973 1.14245707] [ 0. 0. 0. 1. ]] SLAMing on 35.942557844 meters Centerline goodness : 0.154392 with order 3 Centerline is valid? [False, False] Translation: X:-4.30, Y:-0.30, Z:1.14 [[ 9.99884562e-01 -2.25376307e-03 -1.50260970e-02 -4.29554731e+00] [ 2.38686328e-03 9.99958026e-01 8.84589496e-03 -3.02975968e-01] [ 1.50055297e-02 -8.88073904e-03 9.99847972e-01 1.14052317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002557844 meters Centerline goodness : 0.209199 with order 3 Centerline is valid? [False, False] Translation: X:-4.30, Y:-0.29, Z:1.14 [[ 9.99901170e-01 -1.12989172e-03 -1.40133544e-02 -4.30078949e+00] [ 1.25754501e-03 9.99957768e-01 9.10393912e-03 -2.94241666e-01] [ 1.40024761e-02 -9.12066180e-03 9.99860362e-01 1.14376105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062557844 meters Centerline goodness : 0.117641 with order 1 Centerline is valid? [False, False] Translation: X:-4.31, Y:-0.29, Z:1.15 [[ 9.99921257e-01 8.20519345e-04 -1.25222786e-02 -4.30664069e+00] [-6.90942859e-04 9.99946214e-01 1.03484968e-02 -2.86314517e-01] [ 1.25300963e-02 -1.03390297e-02 9.99868042e-01 1.14626174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122557844 meters Centerline goodness : 0.115537 with order 1 Centerline is valid? [False, False] Translation: X:-4.35, Y:-0.27, Z:1.15 [[ 9.99895973e-01 2.50040017e-04 -1.44215529e-02 -4.35419712e+00] [-1.07686107e-04 9.99951276e-01 9.87084613e-03 -2.73536815e-01] [ 1.44233183e-02 -9.86826629e-03 9.99847281e-01 1.14787417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182557844 meters Centerline goodness : 0.113493 with order 1 Centerline is valid? [False, False] Translation: X:-4.35, Y:-0.27, Z:1.15 [[ 9.99890394e-01 -1.84024269e-04 -1.48042489e-02 -4.35282325e+00] [ 3.18012473e-04 9.99959008e-01 9.04881383e-03 -2.69915575e-01] [ 1.48019768e-02 -9.05252997e-03 9.99849465e-01 1.14711801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242557844000004 meters Centerline goodness : 0.225733 with order 3 Centerline is valid? [False, False] Translation: X:-4.35, Y:-0.27, Z:1.15 [[ 9.99888970e-01 -3.32391319e-04 -1.48975820e-02 -4.35300746e+00] [ 4.63452486e-04 9.99961217e-01 8.79489045e-03 -2.67977942e-01] [ 1.48940809e-02 -8.80081827e-03 9.99850345e-01 1.14771806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302557844 meters Centerline goodness : 0.216001 with order 3 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.26, Z:1.15 [[ 9.99845823e-01 -1.16172810e-03 -1.75208758e-02 -4.39912990e+00] [ 1.31905867e-03 9.99958892e-01 8.97072500e-03 -2.62430383e-01] [ 1.75097340e-02 -8.99245298e-03 9.99806254e-01 1.14899236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362557844 meters Centerline goodness : 0.237123 with order 3 Centerline is valid? [False, False] Translation: X:-4.40, Y:-0.26, Z:1.15 [[ 9.99847166e-01 -1.44974412e-03 -1.74224682e-02 -4.39917136e+00] [ 1.59153042e-03 9.99965709e-01 8.12702197e-03 -2.58255676e-01] [ 1.74100886e-02 -8.15350828e-03 9.99815187e-01 1.14868673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422557844 meters Centerline goodness : 0.118762 with order 1 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.25, Z:1.15 [[ 9.99791281e-01 2.16311791e-04 -2.04290776e-02 -4.44414338e+00] [-2.52453601e-05 9.99956264e-01 9.35246528e-03 -2.46835929e-01] [ 2.04302072e-02 -9.34999751e-03 9.99747560e-01 1.14980545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482557844 meters Centerline goodness : 0.247584 with order 3 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.24, Z:1.15 [[ 9.99761841e-01 2.50734498e-03 -2.16789084e-02 -4.43882170e+00] [-2.26692420e-03 9.99935740e-01 1.11075498e-02 -2.41065125e-01] [ 2.17053657e-02 -1.10557600e-02 9.99703280e-01 1.14732049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542557844 meters Centerline goodness : 0.247949 with order 3 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.24, Z:1.15 [[ 9.99766802e-01 1.90233362e-03 -2.15110125e-02 -4.43933483e+00] [-1.69102169e-03 9.99950182e-01 9.83735673e-03 -2.35525995e-01] [ 2.15286548e-02 -9.79868709e-03 9.99720212e-01 1.14753780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602557844 meters Centerline goodness : 0.246840 with order 3 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.23, Z:1.15 [[ 9.99783960e-01 1.75024143e-03 -2.07115841e-02 -4.44212155e+00] [-1.55955781e-03 9.99956286e-01 9.21919069e-03 -2.31965552e-01] [ 2.07268145e-02 -9.18489806e-03 9.99742985e-01 1.14879579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662557844 meters Centerline goodness : 0.242897 with order 3 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.23, Z:1.15 [[ 9.99789909e-01 1.35411267e-03 -2.04524687e-02 -4.44270749e+00] [-1.17958816e-03 9.99962814e-01 8.54283027e-03 -2.29407682e-01] [ 2.04632761e-02 -8.51691001e-03 9.99754328e-01 1.14869496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722557844 meters Centerline goodness : 0.226497 with order 3 Centerline is valid? [False, False] Translation: X:-4.44, Y:-0.23, Z:1.15 [[ 9.99784695e-01 1.07719523e-03 -2.07220673e-02 -4.44218015e+00] [-9.08464195e-04 9.99966373e-01 8.15026853e-03 -2.27682101e-01] [ 2.07301499e-02 -8.12968848e-03 9.99752054e-01 1.14889606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782557844 meters Centerline goodness : 0.116925 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.22, Z:1.15 [[ 9.99724443e-01 6.85954609e-04 -2.34641718e-02 -4.48812185e+00] [-4.89815158e-04 9.99964903e-01 8.36383014e-03 -2.24170655e-01] [ 2.34690855e-02 -8.35003232e-03 9.99689691e-01 1.15003113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842557844 meters Centerline goodness : 0.119771 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.22, Z:1.15 [[ 9.99734833e-01 5.43360446e-04 -2.30210452e-02 -4.48943778e+00] [-3.56233985e-04 9.99966873e-01 8.13181683e-03 -2.23276650e-01] [ 2.30247011e-02 -8.12145966e-03 9.99701908e-01 1.15036353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902557844 meters Centerline goodness : 0.191741 with order 3 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.22, Z:1.15 [[ 0.99980387 -0.00549439 -0.01902708 -4.47280662] [ 0.00569928 0.99992618 0.01073091 -0.21756864] [ 0.01896672 -0.01083725 0.99976138 1.15199852] [ 0. 0. 0. 1. ]] SLAMing on 36.962557844 meters Centerline goodness : 0.202941 with order 3 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.22, Z:1.15 [[ 0.99980221 -0.00554407 -0.01909963 -4.4726059 ] [ 0.0057442 0.99992901 0.01043952 -0.21588731] [ 0.0190404 -0.01054716 0.99976308 1.15200587] [ 0. 0. 0. 1. ]] SLAMing on 37.022557844 meters Centerline goodness : 0.170838 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.21, Z:1.15 [[ 9.99763719e-01 3.23943082e-03 -2.14944843e-02 -4.49183089e+00] [-3.04230667e-03 9.99953076e-01 9.19728874e-03 -2.12993557e-01] [ 2.15232696e-02 -9.12972278e-03 9.99726661e-01 1.14988377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082557844 meters Centerline goodness : 0.175080 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.21, Z:1.15 [[ 9.99760469e-01 3.09342954e-03 -2.16664611e-02 -4.49118290e+00] [-2.90251559e-03 9.99956737e-01 8.83740824e-03 -2.11205337e-01] [ 2.16928616e-02 -8.77240417e-03 9.99726195e-01 1.14952477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142557844 meters Centerline goodness : 0.130280 with order 2 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.21, Z:1.15 [[ 9.99682967e-01 2.18452503e-03 -2.50837366e-02 -4.53393991e+00] [-1.97750259e-03 9.99963805e-01 8.27509528e-03 -2.06626736e-01] [ 2.51009058e-02 -8.22286864e-03 9.99651104e-01 1.14893575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202557844 meters Centerline goodness : 0.321745 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.20, Z:1.15 [[ 9.99647418e-01 2.37179671e-03 -2.64464512e-02 -4.52964484e+00] [-2.16610281e-03 9.99967205e-01 7.80368746e-03 -1.98846243e-01] [ 2.64640926e-02 -7.74365028e-03 9.99619772e-01 1.14775506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262557844 meters Centerline goodness : 0.120687 with order 2 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.19, Z:1.15 [[ 9.99640222e-01 2.02656650e-03 -2.67454631e-02 -4.52873968e+00] [-1.84292238e-03 9.99974571e-01 6.88922911e-03 -1.94504132e-01] [ 2.67587445e-02 -6.83746070e-03 9.99618537e-01 1.14760759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322557844 meters Centerline goodness : 0.174815 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.19, Z:1.15 [[ 9.99648507e-01 1.71962940e-03 -2.64557298e-02 -4.52973530e+00] [-1.55458420e-03 9.99979211e-01 6.25784599e-03 -1.91937740e-01] [ 2.64659409e-02 -6.21451874e-03 9.99630399e-01 1.14806710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382557844 meters Centerline goodness : 0.120652 with order 2 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.19, Z:1.15 [[ 9.99678685e-01 1.20613830e-03 -2.53194024e-02 -4.53320047e+00] [-1.07099257e-03 9.99985112e-01 5.35051745e-03 -1.88202052e-01] [ 2.53254789e-02 -5.32168136e-03 9.99665094e-01 1.14925484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442557844 meters Centerline goodness : 0.110476 with order 2 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.19, Z:1.15 [[ 9.99654564e-01 7.63561621e-04 -2.62710891e-02 -4.53015186e+00] [-6.35383180e-04 9.99987856e-01 4.88707002e-03 -1.86896303e-01] [ 2.62745017e-02 -4.86868964e-03 9.99642909e-01 1.14799483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502557844 meters Centerline goodness : 0.114444 with order 2 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.19, Z:1.15 [[ 9.99645732e-01 8.08220421e-04 -2.66037103e-02 -4.52903416e+00] [-6.76817093e-04 9.99987530e-01 4.94791976e-03 -1.86436616e-01] [ 2.66073776e-02 -4.92816103e-03 9.99633813e-01 1.14745647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562557844 meters Centerline goodness : 0.196770 with order 2 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.19, Z:1.15 [[ 9.99686564e-01 -1.47144133e-03 -2.49921778e-02 -4.53714042e+00] [ 1.54122967e-03 9.99994966e-01 2.77337454e-03 -1.87170174e-01] [ 2.49879711e-02 -2.81102395e-03 9.99683800e-01 1.15223560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622557844 meters Centerline goodness : 0.168804 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.19, Z:1.15 [[ 9.99701845e-01 -1.38993088e-03 -2.43780338e-02 -4.53890763e+00] [ 1.45824186e-03 9.99995060e-01 2.78459998e-03 -1.86793147e-01] [ 2.43740430e-02 -2.81931881e-03 9.99698933e-01 1.15259519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682557844 meters Centerline goodness : 0.113076 with order 2 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.19, Z:1.15 [[ 9.99715019e-01 -1.35280419e-03 -2.38338325e-02 -4.54014100e+00] [ 1.41514405e-03 9.99995621e-01 2.59893156e-03 -1.85552238e-01] [ 2.38302123e-02 -2.63191922e-03 9.99712556e-01 1.15246018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742557844000004 meters Centerline goodness : 0.167525 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.18, Z:1.15 [[ 9.99706627e-01 -1.41254682e-03 -2.41798528e-02 -4.53939106e+00] [ 1.46265222e-03 9.99996820e-01 2.05463591e-03 -1.82825031e-01] [ 2.41768736e-02 -2.08939985e-03 9.99705513e-01 1.15276255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802557844 meters Centerline goodness : 0.170085 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.18, Z:1.15 [[ 9.99705445e-01 2.76880453e-03 -2.41113282e-02 -4.53916787e+00] [-2.62588990e-03 9.99978810e-01 5.95692720e-03 -1.81191464e-01] [ 2.41273108e-02 -5.89185887e-03 9.99691532e-01 1.15209672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862557844 meters Centerline goodness : 0.110652 with order 2 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.18, Z:1.15 [[ 9.99709091e-01 2.27426061e-03 -2.40116754e-02 -4.53979307e+00] [-2.15526331e-03 9.99985274e-01 4.98052703e-03 -1.77300506e-01] [ 2.40226488e-02 -4.92732666e-03 9.99699272e-01 1.15272599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922557844 meters Centerline goodness : 0.159389 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.18, Z:1.15 [[ 9.99698835e-01 2.21734882e-03 -2.44401822e-02 -4.53786276e+00] [-2.09713792e-03 9.99985584e-01 4.94311039e-03 -1.76325436e-01] [ 2.44507905e-02 -4.89036727e-03 9.99689073e-01 1.15133298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982557844 meters Centerline goodness : 0.157835 with order 3 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.18, Z:1.15 [[ 9.99679949e-01 1.64028945e-03 -2.52449856e-02 -4.53477764e+00] [-1.52318885e-03 9.99987996e-01 4.65709946e-03 -1.76484289e-01] [ 2.52523216e-02 -4.61715607e-03 9.99670447e-01 1.14942976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042557844 meters Centerline goodness : 0.171757 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.17, Z:1.15 [[ 9.99655792e-01 1.40346632e-03 -2.61978738e-02 -4.53208466e+00] [-1.29274635e-03 9.99990164e-01 4.24275413e-03 -1.74439609e-01] [ 2.62035707e-02 -4.20742654e-03 9.99647773e-01 1.14898943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102557844 meters Centerline goodness : 0.170952 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.17, Z:1.15 [[ 9.99649401e-01 1.28465711e-03 -2.64466489e-02 -4.53164621e+00] [-1.18517851e-03 9.99992165e-01 3.77681349e-03 -1.72208747e-01] [ 2.64512936e-02 -3.74414534e-03 9.99643092e-01 1.14944796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162557844 meters Centerline goodness : 0.110999 with order 2 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.17, Z:1.15 [[ 9.99593354e-01 1.93279097e-03 -2.84497924e-02 -4.57955904e+00] [-1.83256098e-03 9.99992024e-01 3.54870021e-03 -1.66017121e-01] [ 2.84564244e-02 -3.49512117e-03 9.99588924e-01 1.15046379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222557844 meters Centerline goodness : 0.178664 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.16, Z:1.15 [[ 0.99958047 0.00596867 -0.02834189 -4.58021747] [-0.00576934 0.99995808 0.00710947 -0.16359585] [ 0.02838313 -0.00694297 0.99957301 1.15115212] [ 0. 0. 0. 1. ]] SLAMing on 38.282557844 meters Centerline goodness : 0.292270 with order 1 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.16, Z:1.15 [[ 9.99649925e-01 -7.05957231e-04 -2.64486036e-02 -4.59823884e+00] [ 9.11153942e-04 9.99969576e-01 7.74707124e-03 -1.55538608e-01] [ 2.64423299e-02 -7.76845794e-03 9.99620155e-01 1.14945369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342557844 meters Centerline goodness : 0.175428 with order 1 Centerline is valid? [False, False] Translation: X:-4.61, Y:-0.15, Z:1.15 [[ 9.99700019e-01 1.17195728e-03 -2.44642420e-02 -4.60578831e+00] [-9.47360226e-04 9.99957320e-01 9.19019778e-03 -1.52854871e-01] [ 2.44739684e-02 -9.16426445e-03 9.99658462e-01 1.15241431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402557844 meters Centerline goodness : 0.173516 with order 1 Centerline is valid? [False, False] Translation: X:-4.61, Y:-0.15, Z:1.15 [[ 9.99704243e-01 1.04616286e-03 -2.42967375e-02 -4.60637795e+00] [-8.34553939e-04 9.99961650e-01 8.71786293e-03 -1.50484444e-01] [ 2.43049260e-02 -8.69500763e-03 9.99666778e-01 1.15276716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462557844 meters Centerline goodness : 0.126322 with order 2 Centerline is valid? [False, False] Translation: X:-4.61, Y:-0.15, Z:1.15 [[ 9.99696436e-01 9.85502723e-04 -2.46183673e-02 -4.60528787e+00] [-7.74877430e-04 9.99963031e-01 8.56369077e-03 -1.49689550e-01] [ 2.46258967e-02 -8.54201493e-03 9.99660242e-01 1.15228153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522557844 meters Centerline goodness : 0.116747 with order 2 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.15, Z:1.15 [[ 9.99684991e-01 9.22023566e-04 -2.50812361e-02 -4.60397589e+00] [-6.97643531e-04 9.99959674e-01 8.95341109e-03 -1.51818020e-01] [ 2.50884800e-02 -8.93309292e-03 9.99645321e-01 1.15185076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582557844 meters Centerline goodness : 0.134409 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.15, Z:1.15 [[ 9.99607878e-01 -9.51599671e-04 -2.79854444e-02 -4.64871831e+00] [ 1.16863066e-03 9.99969364e-01 7.73980547e-03 -1.51876526e-01] [ 2.79772219e-02 -7.76947517e-03 9.99578366e-01 1.15151840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642557844 meters Centerline goodness : 0.111143 with order 2 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.15, Z:1.15 [[ 9.99610210e-01 -8.47406413e-04 -2.79053676e-02 -4.64868956e+00] [ 1.07488332e-03 9.99966310e-01 8.13773483e-03 -1.53852922e-01] [ 2.78975315e-02 -8.16455784e-03 9.99577445e-01 1.15105851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702557844 meters Centerline goodness : 0.166703 with order 2 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.15, Z:1.15 [[ 9.99597292e-01 -6.26454546e-04 -2.83700622e-02 -4.64728590e+00] [ 8.62178795e-04 9.99965204e-01 8.29743833e-03 -1.53723583e-01] [ 2.83638771e-02 -8.31855696e-03 9.99563051e-01 1.15069527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762557844 meters Centerline goodness : 0.102075 with order 2 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.15, Z:1.15 [[ 9.99607582e-01 -7.30824710e-04 -2.80026380e-02 -4.64879665e+00] [ 9.56684132e-04 9.99967116e-01 8.05309969e-03 -1.52835999e-01] [ 2.79958317e-02 -8.07672919e-03 9.99575410e-01 1.15166370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822557844 meters Centerline goodness : 0.211636 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.15, Z:1.15 [[ 9.99623261e-01 -8.41774171e-04 -2.74340683e-02 -4.65054570e+00] [ 1.05879620e-03 9.99968257e-01 7.89711036e-03 -1.52378666e-01] [ 2.74265498e-02 -7.92318230e-03 9.99592421e-01 1.15212090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882557844 meters Centerline goodness : 0.172562 with order 1 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.15, Z:1.15 [[ 9.99620053e-01 -8.48885777e-04 -2.75504938e-02 -4.65016646e+00] [ 1.06922219e-03 9.99967557e-01 7.98380272e-03 -1.52963607e-01] [ 2.75428226e-02 -8.01022690e-03 9.99588530e-01 1.15194860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942557844 meters Centerline goodness : 0.265451 with order 2 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.15, Z:1.15 [[ 9.99591213e-01 -1.06897589e-03 -2.85703316e-02 -4.64698786e+00] [ 1.29658498e-03 9.99967563e-01 7.94928592e-03 -1.53497172e-01] [ 2.85609073e-02 -7.98308022e-03 9.99560176e-01 1.15086994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002557844 meters Centerline goodness : 0.104841 with order 2 Centerline is valid? [False, False] Translation: X:-4.64, Y:-0.15, Z:1.15 [[ 9.99564317e-01 2.78781291e-03 -2.93837448e-02 -4.64469027e+00] [-2.44311794e-03 9.99927862e-01 1.17601857e-02 -1.52807366e-01] [ 2.94144103e-02 -1.16832740e-02 9.99499021e-01 1.15038485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062557844 meters Centerline goodness : 0.106699 with order 2 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.15, Z:1.15 [[ 9.99658360e-01 2.16874744e-03 -2.60472671e-02 -4.69119924e+00] [-1.89731191e-03 9.99943690e-01 1.04410803e-02 -1.47365971e-01] [ 2.60684445e-02 -1.03880934e-02 9.99606184e-01 1.14976160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122557844 meters Centerline goodness : 0.130030 with order 2 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.15, Z:1.15 [[ 9.99720008e-01 2.11222809e-03 -2.35678577e-02 -4.65397209e+00] [-1.86621114e-03 9.99943595e-01 1.04557803e-02 -1.47610375e-01] [ 2.35886133e-02 -1.04088701e-02 9.99667561e-01 1.15348309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182557844 meters Centerline goodness : 0.169243 with order 1 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.14, Z:1.15 [[ 9.99629381e-01 1.68641939e-03 -2.71708697e-02 -4.69532321e+00] [-1.41545595e-03 9.99949110e-01 9.98871994e-03 -1.42267091e-01] [ 2.71863321e-02 -9.94655876e-03 9.99580897e-01 1.15169265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242557844000004 meters Centerline goodness : 0.153401 with order 3 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.14, Z:1.15 [[ 9.99623235e-01 1.60080040e-03 -2.74011880e-02 -4.69453708e+00] [-1.33187308e-03 9.99950799e-01 9.82987869e-03 -1.41428862e-01] [ 2.74155755e-02 -9.78968023e-03 9.99576184e-01 1.15133712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302557844 meters Centerline goodness : 0.114141 with order 2 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.14, Z:1.15 [[ 9.99626680e-01 1.54136908e-03 -2.72786627e-02 -4.69527110e+00] [-1.28273082e-03 9.99954086e-01 9.49629966e-03 -1.39429944e-01] [ 2.72920476e-02 -9.45776332e-03 9.99582760e-01 1.15213960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362557844 meters Centerline goodness : 0.119271 with order 3 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.14, Z:1.15 [[ 9.99634313e-01 1.28243515e-03 -2.70110376e-02 -4.69624602e+00] [-1.04295225e-03 9.99960043e-01 8.87833550e-03 -1.36616351e-01] [ 2.70213442e-02 -8.84691758e-03 9.99595708e-01 1.15264647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422557844 meters Centerline goodness : 0.148956 with order 3 Centerline is valid? [False, False] Translation: X:-4.69, Y:-0.14, Z:1.15 [[ 9.99625230e-01 1.32312980e-03 -2.73431786e-02 -4.69412316e+00] [-1.08284474e-03 9.99960687e-01 8.80069096e-03 -1.35293550e-01] [ 2.73537481e-02 -8.76778430e-03 9.99587364e-01 1.15065950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482557844 meters Centerline goodness : 0.145802 with order 3 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.13, Z:1.15 [[ 9.99550425e-01 5.65128854e-04 -2.99771397e-02 -4.73979030e+00] [-3.33497383e-04 9.99970057e-01 7.73137411e-03 -1.30766016e-01] [ 2.99806113e-02 -7.71790098e-03 9.99520684e-01 1.15160176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542557844 meters Centerline goodness : 0.127358 with order 3 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.13, Z:1.15 [[ 9.99533668e-01 4.11142210e-04 -3.05332118e-02 -4.73836135e+00] [-1.94693243e-04 9.99974835e-01 7.09160285e-03 -1.27475750e-01] [ 3.05353591e-02 -7.08235120e-03 9.99508595e-01 1.15164640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602557844 meters Centerline goodness : 0.150184 with order 3 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.12, Z:1.15 [[ 9.99538589e-01 2.36739839e-03 -3.02820972e-02 -4.73833384e+00] [-2.11966012e-03 9.99964047e-01 8.21050112e-03 -1.20528265e-01] [ 3.03004460e-02 -8.14252494e-03 9.99507670e-01 1.15099001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662557844 meters Centerline goodness : 0.149002 with order 3 Centerline is valid? [False, False] Translation: X:-4.74, Y:-0.11, Z:1.15 [[ 0.9995336 0.0061237 -0.02991803 -4.73995553] [-0.00581549 0.99992923 0.01037812 -0.11048863] [ 0.02997947 -0.01019929 0.99949848 1.15223552] [ 0. 0. 0. 1. ]] SLAMing on 39.722557844 meters Centerline goodness : 0.155064 with order 3 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.10, Z:1.15 [[ 0.99953828 0.00969836 -0.0287952 -4.7829753 ] [-0.00938116 0.99989404 0.01113074 -0.10106045] [ 0.0289001 -0.01085547 0.99952336 1.15047233] [ 0. 0. 0. 1. ]] SLAMing on 39.782557844 meters Centerline goodness : 0.162144 with order 3 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.10, Z:1.15 [[ 0.99954663 0.00956618 -0.02854871 -4.78382418] [-0.00927996 0.99990551 0.01014139 -0.09610547] [ 0.02864303 -0.00987186 0.99954096 1.15097436] [ 0. 0. 0. 1. ]] SLAMing on 39.842557844 meters Centerline goodness : 0.160165 with order 3 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.09, Z:1.15 [[ 0.99954906 0.0093817 -0.02852481 -4.78435515] [-0.00911316 0.99991306 0.00952968 -0.09313817] [ 0.02861173 -0.00926544 0.99954766 1.15186201] [ 0. 0. 0. 1. ]] SLAMing on 39.902557844 meters Centerline goodness : 0.145094 with order 2 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.09, Z:1.15 [[ 0.99953152 0.00947377 -0.02910306 -4.78249281] [-0.00921373 0.99991654 0.00905631 -0.08993816] [ 0.02918643 -0.00878391 0.99953539 1.15127257] [ 0. 0. 0. 1. ]] SLAMing on 39.962557844 meters Centerline goodness : 0.165257 with order 3 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.08, Z:1.15 [[ 0.99953022 0.01281941 -0.02783894 -4.78678684] [-0.01251615 0.99986072 0.01104018 -0.08180015] [ 0.02797659 -0.01068656 0.99955145 1.15289838] [ 0. 0. 0. 1. ]] SLAMing on 40.022557844 meters Centerline goodness : 0.198603 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.07, Z:1.15 [[ 0.99943915 0.01581298 -0.02951822 -4.83363165] [-0.01545151 0.99980331 0.0124338 -0.07366575] [ 0.02970903 -0.01197072 0.99948691 1.15357861] [ 0. 0. 0. 1. ]] SLAMing on 40.082557844 meters Centerline goodness : 0.108527 with order 2 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.07, Z:1.15 [[ 0.99934683 0.01759963 -0.03156196 -4.82542152] [-0.017176 0.99975939 0.01364355 -0.06860656] [ 0.03179448 -0.01309253 0.99940867 1.14994683] [ 0. 0. 0. 1. ]] SLAMing on 40.142557844 meters Centerline goodness : 0.163033 with order 3 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.06, Z:1.15 [[ 0.99926367 0.01804306 -0.03386086 -4.87217284] [-0.01759475 0.99975417 0.01349141 -0.06450596] [ 0.03409597 -0.0128857 0.99933549 1.15039288] [ 0. 0. 0. 1. ]] SLAMing on 40.202557844 meters Centerline goodness : 0.109661 with order 2 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.06, Z:1.15 [[ 0.99927021 0.01813482 -0.03361797 -4.87327132] [-0.01768892 0.99975221 0.01351406 -0.06331903] [ 0.03385472 -0.01290953 0.99934339 1.1513128 ] [ 0. 0. 0. 1. ]] SLAMing on 40.262557844 meters Centerline goodness : 0.163840 with order 3 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.06, Z:1.15 [[ 0.99933718 0.00924224 -0.0352105 -4.89442547] [-0.00876092 0.9998664 0.01379957 -0.06010317] [ 0.03533334 -0.01348195 0.99928464 1.15107426] [ 0. 0. 0. 1. ]] SLAMing on 40.322557844 meters Centerline goodness : 0.171110 with order 3 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.06, Z:1.15 [[ 0.99933641 0.00937848 -0.03519633 -4.89417593] [-0.00889341 0.99986365 0.01391327 -0.05956834] [ 0.03532201 -0.01359102 0.99928356 1.15063677] [ 0. 0. 0. 1. ]] SLAMing on 40.382557844 meters Centerline goodness : 0.203494 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.06, Z:1.15 [[ 0.99934038 0.00960461 -0.0350222 -4.89424539] [-0.00913101 0.99986504 0.01365769 -0.05786877] [ 0.03514865 -0.01332889 0.99929321 1.14987008] [ 0. 0. 0. 1. ]] SLAMing on 40.442557844 meters Centerline goodness : 0.162969 with order 2 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.05, Z:1.15 [[ 0.99934295 0.0105954 -0.03466118 -4.89614495] [-0.01013138 0.99985706 0.01353577 -0.0539642 ] [ 0.03479964 -0.01317571 0.99930745 1.15079053] [ 0. 0. 0. 1. ]] SLAMing on 40.502557844 meters Centerline goodness : 0.095655 with order 1 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.05, Z:1.15 [[ 0.99937559 0.01096489 -0.03358873 -4.899461 ] [-0.01051858 0.99985441 0.01343539 -0.05238865] [ 0.03373116 -0.01307369 0.99934543 1.15159815] [ 0. 0. 0. 1. ]] SLAMing on 40.562557844 meters Centerline goodness : 0.119048 with order 2 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.05, Z:1.15 [[ 9.99465746e-01 2.67569266e-03 -3.25739684e-02 -4.88100132e+00] [-2.23339098e-03 9.99904924e-01 1.36071996e-02 -4.64477079e-02] [ 3.26072801e-02 -1.35271795e-02 9.99376696e-01 1.15263253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622557844 meters Centerline goodness : 0.094296 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.04, Z:1.15 [[ 9.99370502e-01 3.36106951e-03 -3.53171764e-02 -4.92735265e+00] [-2.89256489e-03 9.99907256e-01 1.33083619e-02 -4.45718423e-02] [ 3.53586313e-02 -1.31978271e-02 9.99287538e-01 1.15339979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682557844 meters Centerline goodness : 0.150824 with order 2 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.04, Z:1.15 [[ 9.99378093e-01 3.41581803e-03 -3.50964341e-02 -4.92812508e+00] [-2.94893128e-03 9.99906588e-01 1.33461318e-02 -4.46622718e-02] [ 3.51387436e-02 -1.32343348e-02 9.99294812e-01 1.15368704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742557844000004 meters Centerline goodness : 0.212322 with order 3 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.05, Z:1.15 [[ 9.99393758e-01 -2.49143366e-04 -3.48145642e-02 -4.92879213e+00] [ 5.92918213e-04 9.99951169e-01 9.86447965e-03 -4.60555088e-02] [ 3.48104065e-02 -9.87914158e-03 9.99345105e-01 1.15359938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802557844 meters Centerline goodness : 0.126478 with order 2 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.05, Z:1.15 [[ 9.99389350e-01 -3.93548944e-03 -3.47194322e-02 -4.92923035e+00] [ 4.16826388e-03 9.99969303e-01 6.63461016e-03 -4.87343135e-02] [ 3.46922560e-02 -6.77527849e-03 9.99375076e-01 1.15382760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862557844 meters Centerline goodness : 0.089488 with order 3 Centerline is valid? [False, False] Translation: X:-4.95, Y:-0.06, Z:1.15 [[ 9.99408438e-01 2.06588449e-03 -3.43293842e-02 -4.95120894e+00] [-1.91844336e-03 9.99988797e-01 4.32728026e-03 -5.76960323e-02] [ 3.43379393e-02 -4.25886142e-03 9.99401205e-01 1.15307001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922557844 meters Centerline goodness : 0.096146 with order 1 Centerline is valid? [False, False] Translation: X:-4.95, Y:-0.06, Z:1.15 [[ 9.99369726e-01 1.97026028e-04 -3.54980585e-02 -4.94638392e+00] [-9.78406383e-05 9.99996087e-01 2.79582292e-03 -6.35283925e-02] [ 3.54984704e-02 -2.79058763e-03 9.99365835e-01 1.15100039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982557844 meters Centerline goodness : 0.177549 with order 1 Centerline is valid? [False, False] Translation: X:-4.99, Y:-0.07, Z:1.15 [[ 9.99255724e-01 2.94548754e-03 -3.84619506e-02 -4.98891113e+00] [-2.76280049e-03 9.99984653e-01 4.80210004e-03 -6.52317603e-02] [ 3.84755048e-02 -4.69226326e-03 9.99248527e-01 1.14943676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042557844 meters Centerline goodness : 0.304628 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.07, Z:1.15 [[ 9.99196652e-01 1.27590763e-02 -3.79902144e-02 -4.96731518e+00] [-1.26058808e-02 9.99911428e-01 4.26931803e-03 -6.57120439e-02] [ 3.80413221e-02 -3.78698816e-03 9.99268991e-01 1.15065122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102557844 meters Centerline goodness : 0.111968 with order 2 Centerline is valid? [False, False] Translation: X:-4.96, Y:-0.06, Z:1.15 [[ 0.99910363 0.01727644 -0.03864534 -4.96499453] [-0.01699087 0.99982595 0.00770592 -0.06171359] [ 0.03877175 -0.00704239 0.99922328 1.14940964] [ 0. 0. 0. 1. ]] SLAMing on 41.162557844 meters Centerline goodness : 0.179503 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.06, Z:1.15 [[ 0.9991309 0.01723322 -0.03795343 -4.96706971] [-0.0169593 0.99982785 0.00752744 -0.06086309] [ 0.03807662 -0.00687724 0.99925116 1.14983569] [ 0. 0. 0. 1. ]] SLAMing on 41.222557844 meters Centerline goodness : 0.126654 with order 2 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.06, Z:1.15 [[ 9.99196727e-01 1.31048245e-02 -3.78703565e-02 -4.96814365e+00] [-1.29649106e-02 9.99908198e-01 3.93778118e-03 -6.35116731e-02] [ 3.79184839e-02 -3.44363228e-03 9.99274902e-01 1.15086760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282557844 meters Centerline goodness : 0.178247 with order 1 Centerline is valid? [False, False] Translation: X:-4.99, Y:-0.06, Z:1.15 [[ 9.99198887e-01 4.50734693e-03 -3.97651599e-02 -4.98714112e+00] [-4.29319061e-03 9.99975827e-01 5.46927750e-03 -6.34183894e-02] [ 3.97888506e-02 -5.29417658e-03 9.99194085e-01 1.14844691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342557844 meters Centerline goodness : 0.176244 with order 1 Centerline is valid? [False, False] Translation: X:-4.99, Y:-0.07, Z:1.15 [[ 9.99202371e-01 4.68761313e-03 -3.96566159e-02 -4.98747950e+00] [-4.45554899e-03 9.99972443e-01 5.93819809e-03 -6.57144827e-02] [ 3.96833590e-02 -5.75676962e-03 9.99195722e-01 1.14861922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402557844 meters Centerline goodness : 0.166114 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.07, Z:1.15 [[ 9.99303716e-01 7.01399313e-04 -3.73040474e-02 -4.96703838e+00] [-2.96648305e-04 9.99941044e-01 1.08544846e-02 -6.66314404e-02] [ 3.73094614e-02 -1.08358606e-02 9.99245009e-01 1.15028421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462557844 meters Centerline goodness : 0.179463 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.07, Z:1.15 [[ 9.99294737e-01 -2.98917479e-03 -3.74311960e-02 -4.96627538e+00] [ 3.26399355e-03 9.99968152e-01 7.28301580e-03 -6.85955149e-02] [ 3.74082337e-02 -7.40005453e-03 9.99272667e-01 1.14955642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522557844 meters Centerline goodness : 0.099626 with order 1 Centerline is valid? [False, False] Translation: X:-5.01, Y:-0.08, Z:1.15 [[ 9.99220364e-01 -4.20541171e-03 -3.92552985e-02 -5.01365975e+00] [ 4.48394822e-03 9.99965375e-01 7.01016892e-03 -7.88397859e-02] [ 3.92244587e-02 -7.18072227e-03 9.99204623e-01 1.14950537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582557844 meters Centerline goodness : 0.175374 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:-0.09, Z:1.15 [[ 9.99238102e-01 -3.10298928e-03 -3.89048357e-02 -5.01612056e+00] [ 3.46035901e-03 9.99952408e-01 9.12177014e-03 -8.85309322e-02] [ 3.88746794e-02 -9.24944498e-03 9.99201285e-01 1.15201524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642557844 meters Centerline goodness : 0.113479 with order 2 Centerline is valid? [False, False] Translation: X:-5.01, Y:-0.10, Z:1.15 [[ 9.99192001e-01 -3.98258221e-03 -3.99935634e-02 -5.01005072e+00] [ 4.33550509e-03 9.99952392e-01 8.74164141e-03 -9.62822896e-02] [ 3.99568451e-02 -8.90797047e-03 9.99161698e-01 1.14834483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702557844 meters Centerline goodness : 0.173982 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.11, Z:1.14 [[ 9.99213555e-01 4.23615517e-03 -3.94249401e-02 -5.02986413e+00] [-3.92306659e-03 9.99960181e-01 8.01536203e-03 -1.05928376e-01] [ 3.94573245e-02 -7.85439173e-03 9.99190386e-01 1.14468006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762557844 meters Centerline goodness : 0.188733 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.11, Z:1.15 [[ 9.99223072e-01 4.63898687e-03 -3.91373499e-02 -5.03126892e+00] [-4.30047998e-03 9.99952654e-01 8.72896143e-03 -1.09141080e-01] [ 3.91759905e-02 -8.55387027e-03 9.99195713e-01 1.14576194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822557844 meters Centerline goodness : 0.129292 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.11, Z:1.15 [[ 9.99244194e-01 5.14643274e-03 -3.85299339e-02 -5.03323686e+00] [-4.77620115e-03 9.99941597e-01 9.69482350e-03 -1.13415927e-01] [ 3.85775774e-02 -9.50346938e-03 9.99210416e-01 1.14649205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882557844 meters Centerline goodness : 0.112485 with order 2 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.12, Z:1.15 [[ 9.99274280e-01 1.63226107e-03 -3.80558741e-02 -5.03405019e+00] [-1.38450704e-03 9.99977684e-01 6.53571549e-03 -1.16179422e-01] [ 3.80656928e-02 -6.47828377e-03 9.99254239e-01 1.14596156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942557844 meters Centerline goodness : 0.147646 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.12, Z:1.14 [[ 9.99252391e-01 -1.59489729e-03 -3.86279122e-02 -5.03169717e+00] [ 1.74565426e-03 9.99990990e-01 3.86938503e-03 -1.20357347e-01] [ 3.86213929e-02 -3.93392322e-03 9.99246172e-01 1.14489678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002557844 meters Centerline goodness : 0.157260 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.13, Z:1.14 [[ 9.99217300e-01 -4.99152350e-03 -3.92412154e-02 -5.02944736e+00] [ 5.03636192e-03 9.99986773e-01 1.04386377e-03 -1.25078131e-01] [ 3.92354859e-02 -1.24067970e-03 9.99229222e-01 1.14402657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062557844 meters Centerline goodness : 0.185224 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.13, Z:1.15 [[ 9.99234480e-01 -4.36634173e-03 -3.88765799e-02 -5.03150155e+00] [ 4.46398089e-03 9.99987096e-01 2.42506506e-03 -1.31391985e-01] [ 3.88654896e-02 -2.59675293e-03 9.99241077e-01 1.14587334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122557844 meters Centerline goodness : 0.146576 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.14, Z:1.14 [[ 9.99223429e-01 -4.01932698e-03 -3.91967284e-02 -5.02982222e+00] [ 4.15107111e-03 9.99986004e-01 3.28029370e-03 -1.35548662e-01] [ 3.91829952e-02 -3.44045473e-03 9.99226129e-01 1.14455284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182557844 meters Centerline goodness : 0.167850 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.14, Z:1.14 [[ 9.99185942e-01 -4.05242636e-03 -4.01376431e-02 -5.02660580e+00] [ 4.21247168e-03 9.99983508e-01 3.90364131e-03 -1.40251165e-01] [ 4.01211619e-02 -4.06954221e-03 9.99186535e-01 1.14348315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242557844 meters Centerline goodness : 0.165997 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.15, Z:1.15 [[ 9.99208408e-01 -4.03955915e-03 -3.95757419e-02 -5.02918561e+00] [ 4.23754682e-03 9.99978917e-01 4.92014599e-03 -1.49111389e-01] [ 3.95550324e-02 -5.08395530e-03 9.99204460e-01 1.14534672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302557844 meters Centerline goodness : 0.162710 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.15, Z:1.15 [[ 9.99257630e-01 -6.37536372e-03 -3.79939824e-02 -5.03442762e+00] [ 6.50069046e-03 9.99973827e-01 3.17596844e-03 -1.54869620e-01] [ 3.79727400e-02 -3.42059781e-03 9.99272921e-01 1.14689230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362557844 meters Centerline goodness : 0.166430 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.16, Z:1.15 [[ 9.99259001e-01 -6.03815663e-03 -3.80130080e-02 -5.03397512e+00] [ 6.19468761e-03 9.99972807e-01 4.00139134e-03 -1.58972801e-01] [ 3.79878133e-02 -4.23390502e-03 9.99269233e-01 1.14633969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422557844 meters Centerline goodness : 0.142157 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.16, Z:1.15 [[ 9.99242890e-01 -5.74231261e-03 -3.84795126e-02 -5.03212558e+00] [ 5.91819142e-03 9.99972549e-01 4.45836511e-03 -1.60716530e-01] [ 3.84528550e-02 -4.68271876e-03 9.99249443e-01 1.14520399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482557844 meters Centerline goodness : 0.143394 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.17, Z:1.15 [[ 0.99925191 -0.0053026 -0.038308 -5.03307374] [ 0.00551864 0.99996945 0.00553585 -0.16609207] [ 0.03827748 -0.00574311 0.99925064 1.14613683] [ 0. 0. 0. 1. ]] SLAMing on 42.542557844 meters Centerline goodness : 0.136071 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.17, Z:1.15 [[ 9.99249895e-01 -4.84710437e-03 -3.84207318e-02 -5.03262207e+00] [ 5.10573557e-03 9.99964945e-01 6.63629429e-03 -1.71172506e-01] [ 3.83872181e-02 -6.82748247e-03 9.99239614e-01 1.14596881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602557844 meters Centerline goodness : 0.164165 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.18, Z:1.15 [[ 9.99215834e-01 -8.42037134e-03 -3.86886934e-02 -5.03120967e+00] [ 8.57954989e-03 9.99955393e-01 3.95015582e-03 -1.77797896e-01] [ 3.86537058e-02 -4.27898982e-03 9.99243504e-01 1.14512561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662557844 meters Centerline goodness : 0.138235 with order 3 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.19, Z:1.14 [[ 9.99291129e-01 -1.10161302e-03 -3.76301285e-02 -5.05084197e+00] [ 1.23306740e-03 9.99993218e-01 3.47029805e-03 -1.87663174e-01] [ 3.76260504e-02 -3.51423854e-03 9.99285710e-01 1.14313786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722557844 meters Centerline goodness : 0.137758 with order 3 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.19, Z:1.14 [[ 9.99296021e-01 -5.59935407e-04 -3.75119954e-02 -5.05137483e+00] [ 7.39741230e-04 9.99988304e-01 4.77958071e-03 -1.93906156e-01] [ 3.75088804e-02 -4.80396515e-03 9.99284747e-01 1.14370429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782557844 meters Centerline goodness : 0.135525 with order 3 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.20, Z:1.14 [[ 9.99284737e-01 -1.42443210e-03 -3.77886841e-02 -5.04871535e+00] [ 1.59105211e-03 9.99989144e-01 4.37955052e-03 -2.01949650e-01] [ 3.77820355e-02 -4.43654175e-03 9.99276155e-01 1.14156176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842557844 meters Centerline goodness : 0.133527 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.21, Z:1.14 [[ 9.99345535e-01 5.78627755e-04 -3.61686005e-02 -5.05566092e+00] [-3.42819874e-04 9.99978650e-01 6.52554668e-03 -2.05230303e-01] [ 3.61716041e-02 -6.50887662e-03 9.99324397e-01 1.14484889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902557844 meters Centerline goodness : 0.187283 with order 3 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.21, Z:1.14 [[ 9.99249139e-01 7.91617454e-03 -3.79274731e-02 -5.07347731e+00] [-7.73721319e-03 9.99958243e-01 4.86297537e-03 -2.12255542e-01] [ 3.79643855e-02 -4.56587100e-03 9.99268662e-01 1.14183372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962557844 meters Centerline goodness : 0.133436 with order 3 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.21, Z:1.14 [[ 9.99212404e-01 8.40381618e-04 -3.96719638e-02 -5.05281885e+00] [-6.20237476e-04 9.99984345e-01 5.56109305e-03 -2.07864509e-01] [ 3.96760162e-02 -5.53210712e-03 9.99197283e-01 1.14303126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022557844 meters Centerline goodness : 0.139509 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.21, Z:1.15 [[ 9.99271803e-01 -8.86151415e-04 -3.81454916e-02 -5.05879672e+00] [ 1.06090095e-03 9.99989035e-01 4.56113426e-03 -2.12814917e-01] [ 3.81410315e-02 -4.59828145e-03 9.99261786e-01 1.14570061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082557844 meters Centerline goodness : 0.137991 with order 3 Centerline is valid? [False, False] Translation: X:-5.06, Y:-0.22, Z:1.15 [[ 9.99250092e-01 -9.20027969e-04 -3.87092753e-02 -5.05712085e+00] [ 1.11769367e-03 9.99986446e-01 5.08508634e-03 -2.16099490e-01] [ 3.87040722e-02 -5.12453811e-03 9.99237576e-01 1.14542464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142557844 meters Centerline goodness : 0.138454 with order 3 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.22, Z:1.14 [[ 9.99205515e-01 -2.24636688e-03 -3.97906171e-02 -5.05199608e+00] [ 2.41721818e-03 9.99988063e-01 4.24616848e-03 -2.20174106e-01] [ 3.97806037e-02 -4.33897757e-03 9.99199018e-01 1.14317523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202557844 meters Centerline goodness : 0.135045 with order 3 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.22, Z:1.14 [[ 9.99201570e-01 -1.94867935e-03 -3.99052013e-02 -5.05205698e+00] [ 2.15069935e-03 9.99985086e-01 5.02019471e-03 -2.23893725e-01] [ 3.98948234e-02 -5.10201053e-03 9.99190859e-01 1.14388736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262557844 meters Centerline goodness : 0.126346 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.23, Z:1.15 [[ 9.99333511e-01 6.73532703e-03 -3.58771497e-02 -5.03340782e+00] [-6.57775345e-03 9.99968204e-01 4.50825754e-03 -2.28396150e-01] [ 3.59063735e-02 -4.26926179e-03 9.99346039e-01 1.14506459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322557844 meters Centerline goodness : 0.126481 with order 3 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.23, Z:1.15 [[ 9.99401597e-01 3.86619369e-03 -3.43729508e-02 -5.03909787e+00] [-3.79787318e-03 9.99990681e-01 2.05269366e-03 -2.32514580e-01] [ 3.43805666e-02 -1.92092122e-03 9.99406968e-01 1.14721922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382557844 meters Centerline goodness : 0.124688 with order 3 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.24, Z:1.15 [[ 9.99379006e-01 4.06382219e-03 -3.50012619e-02 -5.03725350e+00] [-3.96772838e-03 9.99988168e-01 2.81446033e-03 -2.36395926e-01] [ 3.50122853e-02 -2.67383706e-03 9.99383305e-01 1.14685909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442557844 meters Centerline goodness : 0.126720 with order 3 Centerline is valid? [False, False] Translation: X:-5.04, Y:-0.24, Z:1.15 [[ 9.99370609e-01 2.54886372e-04 -3.54728142e-02 -5.03568920e+00] [-2.50967464e-04 9.99999962e-01 1.14928974e-04 -2.43617234e-01] [ 3.54728422e-02 -1.05954117e-04 9.99370635e-01 1.14629372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502557844 meters Centerline goodness : 0.124767 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.25, Z:1.14 [[ 9.99329351e-01 -1.92913722e-03 -3.65667398e-02 -5.03032252e+00] [ 1.89163677e-03 9.99997649e-01 -1.06010374e-03 -2.51661697e-01] [ 3.65686989e-02 9.90221792e-04 9.99330651e-01 1.14349586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562557844 meters Centerline goodness : 0.222096 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.26, Z:1.14 [[ 9.99311997e-01 -4.65428674e-03 -3.67949823e-02 -5.02765550e+00] [ 4.54690930e-03 9.99985158e-01 -3.00140522e-03 -2.58001710e-01] [ 3.68084056e-02 2.83203680e-03 9.99318328e-01 1.14131153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622557844 meters Centerline goodness : 0.128834 with order 3 Centerline is valid? [False, False] Translation: X:-5.01, Y:-0.26, Z:1.14 [[ 9.99473962e-01 4.26259587e-03 -3.21501218e-02 -5.01136175e+00] [-4.36244649e-03 9.99985875e-01 -3.03625653e-03 -2.64353000e-01] [ 3.21367253e-02 3.17491253e-03 9.99478439e-01 1.14323314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682557844 meters Centerline goodness : 0.119054 with order 1 Centerline is valid? [False, False] Translation: X:-5.01, Y:-0.26, Z:1.14 [[ 9.99465292e-01 4.22622838e-03 -3.24232864e-02 -5.01041503e+00] [-4.33074838e-03 9.99985648e-01 -3.15405920e-03 -2.63967526e-01] [ 3.24094913e-02 3.29278979e-03 9.99469250e-01 1.14287231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742557844 meters Centerline goodness : 0.128745 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.26, Z:1.14 [[ 9.99305841e-01 5.92983351e-03 -3.67786939e-02 -4.96735257e+00] [-6.04832681e-03 9.99976868e-01 -3.11136582e-03 -2.60524529e-01] [ 3.67593933e-02 3.33165560e-03 9.99318591e-01 1.14361337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802557844 meters Centerline goodness : 0.126105 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.26, Z:1.14 [[ 9.99329055e-01 5.90102028e-03 -3.61471547e-02 -4.96929612e+00] [-6.00369930e-03 9.99978244e-01 -2.73269787e-03 -2.62241888e-01] [ 3.61302426e-02 2.94788103e-03 9.99342742e-01 1.14386854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862557844 meters Centerline goodness : 0.137196 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.26, Z:1.14 [[ 9.99339877e-01 1.76191345e-03 -3.62864393e-02 -4.96891845e+00] [-1.99808479e-03 9.99977052e-01 -6.47329418e-03 -2.64038800e-01] [ 3.62742012e-02 6.54152439e-03 9.99320465e-01 1.14363363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922557844 meters Centerline goodness : 0.122995 with order 3 Centerline is valid? [False, False] Translation: X:-4.96, Y:-0.27, Z:1.14 [[ 9.99305854e-01 3.62248453e-03 -3.70767700e-02 -4.96494155e+00] [-3.77612709e-03 9.99984569e-01 -4.07471516e-03 -2.67364158e-01] [ 3.70614373e-02 4.21189331e-03 9.99304113e-01 1.14159812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982557844 meters Centerline goodness : 0.130458 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.27, Z:1.14 [[ 9.99323064e-01 3.60673608e-03 -3.66115497e-02 -4.96644300e+00] [-3.75590906e-03 9.99984920e-01 -4.00651863e-03 -2.67854784e-01] [ 3.65965472e-02 4.14131612e-03 9.99321541e-01 1.14220422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042557844 meters Centerline goodness : 0.130278 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.27, Z:1.14 [[ 9.99323126e-01 3.44737228e-03 -3.66251949e-02 -4.96700852e+00] [-3.60287904e-03 9.99984770e-01 -4.18074402e-03 -2.67817442e-01] [ 3.66102245e-02 4.30987033e-03 9.99320327e-01 1.14309228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102557844 meters Centerline goodness : 0.223338 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.26, Z:1.14 [[ 9.99316729e-01 3.33760701e-03 -3.68094576e-02 -4.96573441e+00] [-3.51453323e-03 9.99982576e-01 -4.74288400e-03 -2.63959181e-01] [ 3.67929864e-02 4.86901138e-03 9.99311047e-01 1.14186335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162557844 meters Centerline goodness : 0.231455 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.26, Z:1.14 [[ 9.99341529e-01 2.73898301e-03 -3.61801842e-02 -4.96787344e+00] [-2.93506897e-03 9.99981286e-01 -5.36770521e-03 -2.62086455e-01] [ 3.61648051e-02 5.47036207e-03 9.99330867e-01 1.14276252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222557844 meters Centerline goodness : 0.236388 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.26, Z:1.14 [[ 9.99341853e-01 2.51099814e-03 -3.61877730e-02 -4.96782171e+00] [-2.70468973e-03 9.99982274e-01 -5.30444414e-03 -2.62759440e-01] [ 3.61738121e-02 5.39882974e-03 9.99330930e-01 1.14269485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282557844 meters Centerline goodness : 0.237455 with order 3 Centerline is valid? [False, False] Translation: X:-4.94, Y:-0.26, Z:1.14 [[ 0.99933503 -0.00673832 -0.03583427 -4.94465532] [ 0.00654097 0.99996281 -0.0056217 -0.26103651] [ 0.03587082 0.00538357 0.99934193 1.14277645] [ 0. 0. 0. 1. ]] SLAMing on 44.342557844 meters Centerline goodness : 0.160011 with order 3 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.27, Z:1.14 [[ 9.99477708e-01 1.09627275e-03 -3.22971960e-02 -4.93029683e+00] [-1.28969368e-03 9.99981356e-01 -5.96856044e-03 -2.69234692e-01] [ 3.22900507e-02 6.00709660e-03 9.99460488e-01 1.14369704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402557844 meters Centerline goodness : 0.222524 with order 3 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.27, Z:1.14 [[ 9.99481719e-01 9.37425994e-04 -3.21778560e-02 -4.93082663e+00] [-1.12632295e-03 9.99982238e-01 -5.85277833e-03 -2.70163054e-01] [ 3.21717980e-02 5.88598761e-03 9.99465022e-01 1.14406918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462557844 meters Centerline goodness : 0.221431 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.27, Z:1.14 [[ 0.99939813 -0.00748584 -0.03387232 -4.90622491] [ 0.00729926 0.99995752 -0.00562859 -0.26820593] [ 0.03391302 0.00537796 0.99941032 1.14421239] [ 0. 0. 0. 1. ]] SLAMing on 44.522557844 meters Centerline goodness : 0.226821 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.27, Z:1.14 [[ 9.99389314e-01 -7.38841888e-03 -3.41527552e-02 -4.90536526e+00] [ 7.21800262e-03 9.99960891e-01 -5.11042917e-03 -2.70624883e-01] [ 3.41891775e-02 4.86079362e-03 9.99403559e-01 1.14388748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582557844 meters Centerline goodness : 0.127610 with order 3 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.27, Z:1.14 [[ 0.99945284 -0.0067518 -0.03237955 -4.85953004] [ 0.00657032 0.99996212 -0.00570788 -0.27066409] [ 0.03241686 0.00549201 0.99945935 1.14381275] [ 0. 0. 0. 1. ]] SLAMing on 44.642557844 meters Centerline goodness : 0.188186 with order 3 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.27, Z:1.14 [[ 0.9994526 -0.00682985 -0.03237066 -4.85961516] [ 0.00663977 0.9999601 -0.00597599 -0.26957419] [ 0.03241018 0.00575779 0.99945807 1.14393265] [ 0. 0. 0. 1. ]] SLAMing on 44.702557844 meters Centerline goodness : 0.210985 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.27, Z:1.14 [[ 9.99538633e-01 2.74902733e-03 -3.02483808e-02 -4.83853205e+00] [-2.94464558e-03 9.99975028e-01 -6.42442116e-03 -2.69515252e-01] [ 3.02299645e-02 6.51052790e-03 9.99521767e-01 1.14368779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762557844 meters Centerline goodness : 0.216043 with order 3 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.26, Z:1.15 [[ 9.99483167e-01 -4.29400489e-03 -3.18584551e-02 -4.81833740e+00] [ 4.10953085e-03 9.99974423e-01 -5.85364734e-03 -2.62884807e-01] [ 3.18827758e-02 5.71969868e-03 9.99475249e-01 1.14565372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822557844 meters Centerline goodness : 0.226382 with order 3 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.27, Z:1.15 [[ 9.99470661e-01 -4.92895740e-03 -3.21574862e-02 -4.81741243e+00] [ 4.74471263e-03 9.99971905e-01 -5.80324752e-03 -2.65207073e-01] [ 3.21851866e-02 5.64759760e-03 9.99465967e-01 1.14534703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882557844 meters Centerline goodness : 0.132480 with order 3 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.27, Z:1.14 [[ 0.99943629 -0.00894406 -0.03235905 -4.81604821] [ 0.00865082 0.99992034 -0.0091907 -0.26714301] [ 0.03243868 0.00890558 0.99943405 1.14424526] [ 0. 0. 0. 1. ]] SLAMing on 44.942557844 meters Centerline goodness : 0.217957 with order 3 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.27, Z:1.14 [[ 0.99944648 -0.00892011 -0.03204945 -4.81707673] [ 0.00864307 0.99992417 -0.00877218 -0.26851466] [ 0.03212527 0.00849032 0.99944779 1.14467911] [ 0. 0. 0. 1. ]] SLAMing on 45.002557844 meters Centerline goodness : 0.195663 with order 3 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.27, Z:1.15 [[ 9.99563696e-01 -5.95264237e-04 -2.95307255e-02 -4.79884444e+00] [ 2.88279306e-04 9.99945891e-01 -1.03986101e-02 -2.69937934e-01] [ 2.95353175e-02 1.03855600e-02 9.99509782e-01 1.14659876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062557844 meters Centerline goodness : 0.229397 with order 3 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.26, Z:1.14 [[ 9.99551081e-01 2.84723371e-03 -2.98249747e-02 -4.79624445e+00] [-3.07826285e-03 9.99965593e-01 -7.70311511e-03 -2.64963646e-01] [ 2.98020159e-02 7.79146615e-03 9.99525454e-01 1.14424722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122557844 meters Centerline goodness : 0.200765 with order 3 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.26, Z:1.14 [[ 0.99950081 0.00530164 -0.03114512 -4.79077112] [-0.00548357 0.99996838 -0.00575889 -0.26089543] [ 0.03111361 0.0059268 0.99949828 1.14180469] [ 0. 0. 0. 1. ]] SLAMing on 45.182557844 meters Centerline goodness : 0.133339 with order 3 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.26, Z:1.14 [[ 0.99955701 0.00634536 -0.02907772 -4.74730966] [-0.00654196 0.99995635 -0.00667097 -0.25602133] [ 0.02903413 0.00685824 0.99955489 1.1428534 ] [ 0. 0. 0. 1. ]] SLAMing on 45.242557844 meters Centerline goodness : 0.227722 with order 3 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.25, Z:1.14 [[ 9.99537688e-01 1.01333291e-02 -2.86657793e-02 -4.74876568e+00] [-1.02405190e-02 9.99941102e-01 -3.59496309e-03 -2.51496685e-01] [ 2.86276620e-02 3.88685355e-03 9.99582588e-01 1.14361300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302557844 meters Centerline goodness : 0.176092 with order 3 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.25, Z:1.14 [[ 9.99506161e-01 1.01361243e-02 -2.97437848e-02 -4.74536817e+00] [-1.02713395e-02 9.99937582e-01 -4.39673198e-03 -2.46812292e-01] [ 2.96973624e-02 4.70006921e-03 9.99547886e-01 1.14235926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362557844 meters Centerline goodness : 0.214653 with order 3 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.24, Z:1.14 [[ 9.99466711e-01 1.35794923e-02 -2.96966539e-02 -4.74641066e+00] [-1.36506987e-02 9.99904413e-01 -2.19636333e-03 -2.38393201e-01] [ 2.96639898e-02 2.60057211e-03 9.99556544e-01 1.14362607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422557844 meters Centerline goodness : 0.127353 with order 3 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.23, Z:1.15 [[ 9.99505367e-01 1.41470993e-02 -2.80870294e-02 -4.75158926e+00] [-1.42172215e-02 9.99896288e-01 -2.29846651e-03 -2.32657542e-01] [ 2.80515998e-02 2.69664913e-03 9.99602839e-01 1.14516105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482557844 meters Centerline goodness : 0.132687 with order 3 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.22, Z:1.15 [[ 9.99645961e-01 6.33642797e-03 -2.58418688e-02 -4.73312608e+00] [-6.38943772e-03 9.99977648e-01 -1.96925657e-03 -2.23243674e-01] [ 2.58288132e-02 2.13367439e-03 9.99664104e-01 1.14728646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542557844 meters Centerline goodness : 0.236792 with order 3 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.22, Z:1.15 [[ 9.99652298e-01 6.26465113e-03 -2.56132306e-02 -4.73357237e+00] [-6.31938457e-03 9.99977918e-01 -2.05653547e-03 -2.22774649e-01] [ 2.55997815e-02 2.21768026e-03 9.99669812e-01 1.14701092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602557844 meters Centerline goodness : 0.208812 with order 3 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.22, Z:1.15 [[ 9.99648835e-01 -2.38718522e-03 -2.63914237e-02 -4.71045165e+00] [ 2.33055365e-03 9.99994916e-01 -2.17638273e-03 -2.19626225e-01] [ 2.63964849e-02 2.11411184e-03 9.99649317e-01 1.14700084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662557844 meters Centerline goodness : 0.215281 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.15 [[ 9.99533161e-01 2.61145219e-04 -3.05514478e-02 -4.66478713e+00] [-2.75380070e-04 9.99999855e-01 -4.61723805e-04 -2.19257826e-01] [ 3.05513228e-02 4.69921514e-04 9.99533089e-01 1.14889839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722557844 meters Centerline goodness : 0.234578 with order 3 Centerline is valid? [False, False] Translation: X:-4.67, Y:-0.22, Z:1.15 [[ 9.99549145e-01 3.49755056e-04 -3.00230684e-02 -4.66627401e+00] [-3.73542294e-04 9.99999621e-01 -7.86693673e-04 -2.17246725e-01] [ 3.00227819e-02 7.97553874e-04 9.99548896e-01 1.14921105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782557844 meters Centerline goodness : 0.242697 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.22, Z:1.15 [[ 9.99569212e-01 1.16901683e-02 -2.69208049e-02 -4.64696189e+00] [-1.16953967e-02 9.99931606e-01 -3.67649388e-05 -2.15923541e-01] [ 2.69185338e-02 3.51598593e-04 9.99637569e-01 1.14944432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842557844 meters Centerline goodness : 0.154423 with order 1 Centerline is valid? [False, False] Translation: X:-4.64, Y:-0.21, Z:1.15 [[ 9.99540138e-01 1.16431625e-02 -2.79990862e-02 -4.64345237e+00] [-1.16611916e-02 9.99931890e-01 -4.80711772e-04 -2.14040525e-01] [ 2.79915822e-02 8.06993419e-04 9.99607833e-01 1.14805483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902557844 meters Centerline goodness : 0.126358 with order 3 Centerline is valid? [False, False] Translation: X:-4.64, Y:-0.22, Z:1.15 [[ 9.99531818e-01 1.17395264e-02 -2.82547065e-02 -4.64264476e+00] [-1.17496354e-02 9.99930952e-01 -1.91778597e-04 -2.15505260e-01] [ 2.82505041e-02 5.23671309e-04 9.99600738e-01 1.14774834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962557844 meters Centerline goodness : 0.131943 with order 3 Centerline is valid? [False, False] Translation: X:-4.62, Y:-0.21, Z:1.15 [[ 9.99690220e-01 4.06928999e-03 -2.45541127e-02 -4.62338863e+00] [-4.05573296e-03 9.99991594e-01 6.01903807e-04 -2.14697209e-01] [ 2.45563556e-02 -5.02132425e-04 9.99698321e-01 1.14869678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022557844 meters Centerline goodness : 0.373114 with order 3 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.21, Z:1.15 [[ 9.99704051e-01 -3.74995379e-03 -2.40363970e-02 -4.60429962e+00] [ 3.78850399e-03 9.99991609e-01 1.55848872e-03 -2.12053894e-01] [ 2.40303510e-02 -1.64908947e-03 9.99709869e-01 1.15057321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082557844 meters Centerline goodness : 0.381214 with order 3 Centerline is valid? [False, False] Translation: X:-4.61, Y:-0.21, Z:1.15 [[ 9.99711897e-01 -3.37341851e-03 -2.37643288e-02 -4.60537910e+00] [ 3.41680945e-03 9.99992569e-01 1.78551709e-03 -2.12966550e-01] [ 2.37581289e-02 -1.86620086e-03 9.99715994e-01 1.15172425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142557844 meters Centerline goodness : 0.129697 with order 3 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.22, Z:1.15 [[ 9.99694259e-01 -2.61956653e-03 -2.45871305e-02 -4.60313793e+00] [ 2.68418113e-03 9.99993030e-01 2.59534949e-03 -2.16032455e-01] [ 2.45801604e-02 -2.66055230e-03 9.99694322e-01 1.15197493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202557844 meters Centerline goodness : 0.129883 with order 3 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.22, Z:1.15 [[ 9.99687516e-01 -2.26658981e-03 -2.48944509e-02 -4.60204697e+00] [ 2.34997662e-03 9.99991725e-01 3.32087030e-03 -2.19248625e-01] [ 2.48867179e-02 -3.37833396e-03 9.99684569e-01 1.15167344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262557844 meters Centerline goodness : 0.125232 with order 3 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.23, Z:1.15 [[ 9.99701481e-01 6.95451843e-03 -2.34218771e-02 -4.58202930e+00] [-6.87860465e-03 9.99970830e-01 3.32015711e-03 -2.26958418e-01] [ 2.34442840e-02 -3.15805614e-03 9.99720157e-01 1.15234439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322557844 meters Centerline goodness : 0.127221 with order 3 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.23, Z:1.15 [[ 9.99675162e-01 -1.52107904e-03 -2.54412415e-02 -4.60016159e+00] [ 1.65920590e-03 9.99983995e-01 5.40902201e-03 -2.28142734e-01] [ 2.54326067e-02 -5.44947722e-03 9.99661686e-01 1.15139944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382557844 meters Centerline goodness : 0.127396 with order 3 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.23, Z:1.15 [[ 9.99651471e-01 -1.40043451e-03 -2.63623682e-02 -4.59684569e+00] [ 1.54767403e-03 9.99983314e-01 5.56564099e-03 -2.29238309e-01] [ 2.63541340e-02 -5.60450156e-03 9.99636959e-01 1.14968006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442557844 meters Centerline goodness : 0.233422 with order 3 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.23, Z:1.15 [[ 9.99658152e-01 -1.07260141e-03 -2.61233167e-02 -4.59774559e+00] [ 1.23431659e-03 9.99980172e-01 6.17511571e-03 -2.31741585e-01] [ 2.61161753e-02 -6.20524920e-03 9.99639655e-01 1.15016283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502557844 meters Centerline goodness : 0.122848 with order 3 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.23, Z:1.15 [[ 9.99663046e-01 -9.47777149e-04 -2.59402510e-02 -4.59873477e+00] [ 1.12019334e-03 9.99977374e-01 6.63294216e-03 -2.34123885e-01] [ 2.59333775e-02 -6.65976526e-03 9.99641489e-01 1.15108222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562557844 meters Centerline goodness : 0.143529 with order 1 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.24, Z:1.15 [[ 9.99651249e-01 -4.90947393e-03 -2.59475814e-02 -4.59810707e+00] [ 4.99047970e-03 9.99982872e-01 3.05806643e-03 -2.36221372e-01] [ 2.59321235e-02 -3.18649081e-03 9.99658627e-01 1.15023820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622557844 meters Centerline goodness : 0.154932 with order 3 Centerline is valid? [False, False] Translation: X:-4.60, Y:-0.24, Z:1.15 [[ 9.99627617e-01 -4.56705996e-03 -2.69029682e-02 -4.59501818e+00] [ 4.68486163e-03 9.99979706e-01 4.31735960e-03 -2.41334403e-01] [ 2.68827046e-02 -4.44178858e-03 9.99628726e-01 1.14875092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682557844 meters Centerline goodness : 0.131687 with order 3 Centerline is valid? [False, False] Translation: X:-4.59, Y:-0.25, Z:1.15 [[ 9.99597858e-01 -8.05139284e-03 -2.71900294e-02 -4.59453442e+00] [ 8.10612188e-03 9.99965334e-01 1.90320997e-03 -2.48591220e-01] [ 2.71737633e-02 -2.12285030e-03 9.99628471e-01 1.14938888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742557844 meters Centerline goodness : 0.135475 with order 1 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.26, Z:1.15 [[ 9.99638403e-01 2.44194019e-03 -2.67787326e-02 -4.57483663e+00] [-2.37693505e-03 9.99994152e-01 2.45905379e-03 -2.57641072e-01] [ 2.67845808e-02 -2.39451329e-03 9.99638361e-01 1.15189257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802557844 meters Centerline goodness : 0.131219 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.26, Z:1.15 [[ 0.99962593 0.00631455 -0.02661069 -4.57613409] [-0.00615272 0.9999621 0.00615897 -0.25769176] [ 0.02664858 -0.00599294 0.9996269 1.15360812] [ 0. 0. 0. 1. ]] SLAMing on 46.862557844 meters Centerline goodness : 0.121667 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.26, Z:1.15 [[ 0.99958291 0.00675991 -0.02807701 -4.57154086] [-0.00658862 0.99995914 0.0061889 -0.25768088] [ 0.0281177 -0.00600133 0.9995866 1.15262645] [ 0. 0. 0. 1. ]] SLAMing on 46.922557844 meters Centerline goodness : 0.230262 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.26, Z:1.15 [[ 0.99957408 0.00716572 -0.02828981 -4.57051413] [-0.00697405 0.99995209 0.00686821 -0.26006642] [ 0.02833767 -0.00666799 0.99957617 1.15188033] [ 0. 0. 0. 1. ]] SLAMing on 46.982557844 meters Centerline goodness : 0.118580 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.26, Z:1.15 [[ 9.99599544e-01 3.63595345e-03 -2.80629885e-02 -4.57121375e+00] [-3.52937450e-03 9.99986374e-01 3.84644582e-03 -2.63277059e-01] [ 2.80765916e-02 -3.74586069e-03 9.99598756e-01 1.15187555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042557844 meters Centerline goodness : 0.120670 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.27, Z:1.15 [[ 9.99594831e-01 -1.10694185e-04 -2.84633486e-02 -4.56953187e+00] [ 1.44568586e-04 9.99999284e-01 1.18805086e-03 -2.70189539e-01] [ 2.84631967e-02 -1.19168440e-03 9.99594131e-01 1.15095720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102557844 meters Centerline goodness : 0.202061 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.28, Z:1.15 [[ 9.99597294e-01 2.65561853e-04 -2.83756691e-02 -4.56997356e+00] [-2.02181647e-04 9.99997479e-01 2.23645672e-03 -2.75149638e-01] [ 2.83761915e-02 -2.22981904e-03 9.99594828e-01 1.15141140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162557844 meters Centerline goodness : 0.119226 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.28, Z:1.15 [[ 9.99608828e-01 9.06676617e-04 -2.79529641e-02 -4.57150465e+00] [-8.25667943e-04 9.99995427e-01 2.90944121e-03 -2.77059050e-01] [ 2.79554742e-02 -2.88522326e-03 9.99605005e-01 1.15223113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222557844 meters Centerline goodness : 0.120446 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.28, Z:1.15 [[ 9.99581489e-01 1.25854369e-03 -2.89009322e-02 -4.56865276e+00] [-1.17547105e-03 9.99995130e-01 2.89120281e-03 -2.77049209e-01] [ 2.89044302e-02 -2.85602060e-03 9.99578100e-01 1.15198213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282557844 meters Centerline goodness : 0.116858 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.28, Z:1.15 [[ 9.99576696e-01 1.36057486e-03 -2.90616317e-02 -4.56835452e+00] [-1.27600915e-03 9.99994899e-01 2.92822191e-03 -2.77442755e-01] [ 2.90654676e-02 -2.88989947e-03 9.99573333e-01 1.15238274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342557844 meters Centerline goodness : 0.203438 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.28, Z:1.15 [[ 9.99563330e-01 1.63328326e-03 -2.95039330e-02 -4.56749444e+00] [-1.53438877e-03 9.99993130e-01 3.37423794e-03 -2.79590859e-01] [ 2.95092414e-02 -3.32749401e-03 9.99558969e-01 1.15306730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402557844 meters Centerline goodness : 0.172848 with order 3 Centerline is valid? [False, False] Translation: X:-4.59, Y:-0.28, Z:1.15 [[ 9.99531048e-01 9.15769214e-03 -2.92202167e-02 -4.58726634e+00] [-9.09304827e-03 9.99955909e-01 2.34441454e-03 -2.83591456e-01] [ 2.92403978e-02 -2.07761428e-03 9.99570249e-01 1.15031950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462557844 meters Centerline goodness : 0.138842 with order 1 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.27, Z:1.15 [[ 9.99657426e-01 2.15668611e-03 -2.60840774e-02 -4.57064760e+00] [-2.04623527e-03 9.99988831e-01 4.26036659e-03 -2.74329428e-01] [ 2.60929743e-02 -4.20553294e-03 9.99650674e-01 1.15097957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522557844 meters Centerline goodness : 0.138680 with order 1 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.27, Z:1.15 [[ 9.99640849e-01 -1.10818173e-03 -2.67758430e-02 -4.56874370e+00] [ 1.11760271e-03 9.99999319e-01 3.36883910e-04 -2.73020599e-01] [ 2.67754514e-02 -3.66687673e-04 9.99641406e-01 1.15084941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582557844 meters Centerline goodness : 0.118410 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.27, Z:1.15 [[ 9.99640626e-01 -1.15356426e-03 -2.67822512e-02 -4.56893155e+00] [ 1.16132560e-03 9.99999288e-01 2.74241836e-04 -2.72680763e-01] [ 2.67819158e-02 -3.05246195e-04 9.99641254e-01 1.15116399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642557844 meters Centerline goodness : 0.121767 with order 3 Centerline is valid? [False, False] Translation: X:-4.59, Y:-0.28, Z:1.15 [[ 9.99742832e-01 4.25590060e-03 -2.22745916e-02 -4.58944047e+00] [-4.27429269e-03 9.99990562e-01 -7.78152979e-04 -2.80704852e-01] [ 2.22710696e-02 8.73160987e-04 9.99751588e-01 1.14800808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702557844 meters Centerline goodness : 0.230194 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.28, Z:1.15 [[ 9.99765379e-01 -3.68121765e-03 -2.13456360e-02 -4.56839498e+00] [ 3.68184552e-03 9.99993222e-01 -9.88577856e-06 -2.78426356e-01] [ 2.13455277e-02 -6.87078751e-05 9.99772156e-01 1.14828074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762557844 meters Centerline goodness : 0.139019 with order 1 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.28, Z:1.15 [[ 9.99754305e-01 -3.38785006e-03 -2.19055221e-02 -4.56668528e+00] [ 3.40051265e-03 9.99994072e-01 5.40830598e-04 -2.80640103e-01] [ 2.19035600e-02 -6.15187724e-04 9.99759899e-01 1.14781317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822557844 meters Centerline goodness : 0.177512 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.28, Z:1.15 [[ 9.99698108e-01 -1.32466199e-03 -2.45344355e-02 -4.55754309e+00] [ 1.36707714e-03 9.99997600e-01 1.71210839e-03 -2.80130503e-01] [ 2.45321087e-02 -1.74513198e-03 9.99697519e-01 1.14531551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882557844 meters Centerline goodness : 0.142260 with order 1 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.28, Z:1.14 [[ 9.99672457e-01 -9.26475297e-04 -2.55757749e-02 -4.55398209e+00] [ 9.71212777e-04 9.99998020e-01 1.73684671e-03 -2.78908330e-01] [ 2.55741151e-02 -1.76111734e-03 9.99671378e-01 1.14353758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942557844 meters Centerline goodness : 0.197046 with order 3 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.28, Z:1.14 [[ 9.99673463e-01 -9.20525806e-04 -2.55366583e-02 -4.55440661e+00] [ 9.60085865e-04 9.99998358e-01 1.53693041e-03 -2.77946654e-01] [ 2.55352016e-02 -1.56094593e-03 9.99672705e-01 1.14411135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002557844 meters Centerline goodness : 0.178617 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.28, Z:1.15 [[ 9.99714530e-01 -1.68979032e-04 -2.38920280e-02 -4.55979714e+00] [ 2.20849593e-04 9.99997625e-01 2.16841856e-03 -2.78779346e-01] [ 2.38916048e-02 -2.17307609e-03 9.99712193e-01 1.14595688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062557844 meters Centerline goodness : 0.117889 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.28, Z:1.15 [[ 9.99712767e-01 -1.39291130e-04 -2.39659145e-02 -4.55935568e+00] [ 1.95000207e-04 9.99997285e-01 2.32219158e-03 -2.79760633e-01] [ 2.39655260e-02 -2.32619793e-03 9.99710079e-01 1.14554470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122557844 meters Centerline goodness : 0.119689 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.28, Z:1.15 [[ 9.99705979e-01 -1.66697205e-04 -2.42472013e-02 -4.55885856e+00] [ 2.21853671e-04 9.99997394e-01 2.27208369e-03 -2.79542439e-01] [ 2.42467594e-02 -2.27679498e-03 9.99703411e-01 1.14588124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182557844 meters Centerline goodness : 0.328934 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.28, Z:1.15 [[ 9.99697667e-01 8.87922583e-03 -2.29288925e-02 -4.53892638e+00] [-8.86355819e-03 9.99960410e-01 7.84854862e-04 -2.79400383e-01] [ 2.29349537e-02 -5.81386001e-04 9.99736790e-01 1.14737095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242557844 meters Centerline goodness : 0.128869 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.28, Z:1.15 [[ 9.99703357e-01 8.66561222e-03 -2.27619098e-02 -4.53962125e+00] [-8.65944796e-03 9.99962438e-01 3.69368394e-04 -2.77847374e-01] [ 2.27642557e-02 -1.72153250e-04 9.99740846e-01 1.14776681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302557844 meters Centerline goodness : 0.184547 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.27, Z:1.15 [[ 9.99778656e-01 4.46494192e-04 -2.10342558e-02 -4.52303107e+00] [-4.10773739e-04 9.99998466e-01 1.70249384e-03 -2.71280248e-01] [ 2.10349837e-02 -1.69347668e-03 9.99777306e-01 1.14973230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362557844 meters Centerline goodness : 0.324378 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.27, Z:1.15 [[ 9.99789668e-01 -2.65814702e-03 -2.03360517e-02 -4.52665745e+00] [ 2.63705942e-03 9.99995957e-01 -1.06370276e-03 -2.73274677e-01] [ 2.03387970e-02 1.00985165e-03 9.99792635e-01 1.15175549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422557844 meters Centerline goodness : 0.295449 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.27, Z:1.15 [[ 9.99797408e-01 -2.70710673e-03 -1.99452939e-02 -4.52764965e+00] [ 2.69414521e-03 9.99996142e-01 -6.76695006e-04 -2.74656873e-01] [ 1.99470488e-02 6.22822395e-04 9.99800844e-01 1.15138524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482557844 meters Centerline goodness : 0.120281 with order 3 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.28, Z:1.15 [[ 9.99797023e-01 -2.82183708e-03 -1.99486956e-02 -4.52740117e+00] [ 2.81420750e-03 9.99995956e-01 -4.10522252e-04 -2.76594743e-01] [ 1.99497733e-02 3.54299156e-04 9.99800921e-01 1.15110311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542557844 meters Centerline goodness : 0.135828 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.27, Z:1.15 [[ 9.99792184e-01 -2.21387955e-04 -2.03847710e-02 -4.52753943e+00] [ 2.60019888e-04 9.99998175e-01 1.89250594e-03 -2.74555311e-01] [ 2.03843149e-02 -1.89741309e-03 9.99790418e-01 1.15291216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602557844 meters Centerline goodness : 0.125505 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.28, Z:1.15 [[ 9.99745798e-01 1.00688993e-02 -2.01731809e-02 -4.50601532e+00] [-1.00390534e-02 9.99948359e-01 1.58020757e-03 -2.76793606e-01] [ 2.01880501e-02 -1.37728624e-03 9.99795252e-01 1.15353038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662557844 meters Centerline goodness : 0.141266 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.27, Z:1.15 [[ 9.99771414e-01 1.59336230e-03 -2.13208988e-02 -4.52137504e+00] [-1.54170015e-03 9.99995836e-01 2.43929311e-03 -2.67996953e-01] [ 2.13246967e-02 -2.40586509e-03 9.99769708e-01 1.15114255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722557844 meters Centerline goodness : 0.342052 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.27, Z:1.15 [[ 9.99753915e-01 1.67706822e-03 -2.21200344e-02 -4.51848579e+00] [-1.62693573e-03 9.99996068e-01 2.28418567e-03 -2.67122744e-01] [ 2.21237781e-02 -2.24763570e-03 9.99752713e-01 1.14958195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782557844 meters Centerline goodness : 0.346212 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.27, Z:1.15 [[ 9.99763395e-01 -2.20560077e-03 -2.16400053e-02 -4.51985101e+00] [ 2.17450165e-03 9.99996569e-01 -1.46053806e-03 -2.67800706e-01] [ 2.16431524e-02 1.41313626e-03 9.99764761e-01 1.14967910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842557844 meters Centerline goodness : 0.141594 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.28, Z:1.15 [[ 9.99786006e-01 -4.32621253e-03 -2.02293605e-02 -4.52518990e+00] [ 4.28480962e-03 9.99988637e-01 -2.08957086e-03 -2.75416469e-01] [ 2.02381705e-02 2.00244475e-03 9.99793182e-01 1.15092950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902557844 meters Centerline goodness : 0.146415 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99779213e-01 -4.27576025e-03 -2.05728651e-02 -4.52439865e+00] [ 4.24372355e-03 9.99989714e-01 -1.60063631e-03 -2.78272422e-01] [ 2.05794974e-02 1.51297736e-03 9.99787075e-01 1.15111320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962557844 meters Centerline goodness : 0.208678 with order 3 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.28, Z:1.15 [[ 9.99786196e-01 -3.97738454e-03 -2.02914531e-02 -4.52503424e+00] [ 3.97128589e-03 9.99992056e-01 -3.40839588e-04 -2.82789033e-01] [ 2.02926476e-02 2.60183553e-04 9.99794049e-01 1.15054101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022557844 meters Centerline goodness : 0.194584 with order 3 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.29, Z:1.15 [[ 9.99798011e-01 -6.30761622e-03 -1.90827480e-02 -4.53022217e+00] [ 6.27811235e-03 9.99979003e-01 -1.60561508e-03 -2.89345455e-01] [ 1.90924749e-02 1.48548713e-03 9.99816619e-01 1.15286641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082557844 meters Centerline goodness : 0.138033 with order 2 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.29, Z:1.15 [[ 9.99778785e-01 -6.30316419e-03 -2.00661918e-02 -4.52797924e+00] [ 6.28346112e-03 9.99979713e-01 -1.04480200e-03 -2.92755529e-01] [ 2.00723703e-02 9.18485740e-04 9.99798108e-01 1.15307927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142557844 meters Centerline goodness : 0.304478 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.29, Z:1.15 [[ 9.99773523e-01 -5.97704430e-03 -2.04249293e-02 -4.52667515e+00] [ 5.96493295e-03 9.99981996e-01 -6.53841205e-04 -2.93944317e-01] [ 2.04284696e-02 5.31859791e-04 9.99791176e-01 1.15256197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202557844 meters Centerline goodness : 0.121927 with order 3 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.29, Z:1.15 [[ 9.99771823e-01 -5.87270252e-03 -2.05381139e-02 -4.52654002e+00] [ 5.85741873e-03 9.99982522e-01 -8.04245032e-04 -2.93500059e-01] [ 2.05424780e-02 6.83761189e-04 9.99788747e-01 1.15317187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262557844 meters Centerline goodness : 0.147937 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:-0.29, Z:1.15 [[ 9.99778828e-01 -1.78388259e-03 -2.09550006e-02 -4.52609332e+00] [ 1.84700359e-03 9.99993814e-01 2.99324899e-03 -2.92284447e-01] [ 2.09495314e-02 -3.03129093e-03 9.99775939e-01 1.15386896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322557844 meters Centerline goodness : 0.340728 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.29, Z:1.15 [[ 9.99768423e-01 -1.66047020e-03 -2.14556055e-02 -4.52431511e+00] [ 1.71335456e-03 9.99995539e-01 2.44667981e-03 -2.89925529e-01] [ 2.14514471e-02 -2.48287427e-03 9.99766808e-01 1.15342440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382557844 meters Centerline goodness : 0.137736 with order 1 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.29, Z:1.15 [[ 9.99760020e-01 6.19817073e-03 -2.10115429e-02 -4.54774051e+00] [-6.16538009e-03 9.99979673e-01 1.62502196e-03 -2.91794705e-01] [ 2.10211880e-02 -1.49508784e-03 9.99777913e-01 1.15362110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442557844 meters Centerline goodness : 0.263969 with order 1 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.28, Z:1.15 [[ 9.99790526e-01 8.21492112e-03 -1.87461611e-02 -4.50208534e+00] [-8.18967413e-03 9.99965451e-01 1.42315488e-03 -2.83527148e-01] [ 1.87572046e-02 -1.26933182e-03 9.99823262e-01 1.15115934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502557844 meters Centerline goodness : 0.228362 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99797807e-01 -1.44855114e-03 -2.00560985e-02 -4.52131790e+00] [ 1.49098158e-03 9.99996682e-01 2.10079654e-03 -2.77004918e-01] [ 2.00529888e-02 -2.13027505e-03 9.99796649e-01 1.14965834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562557844 meters Centerline goodness : 0.371380 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99798194e-01 -1.70374643e-03 -2.00166896e-02 -4.52177497e+00] [ 1.74075830e-03 9.99996807e-01 1.83177217e-03 -2.75874879e-01] [ 2.00135048e-02 -1.86624673e-03 9.99797968e-01 1.15020782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622557844 meters Centerline goodness : 0.118336 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99810701e-01 -1.91210028e-03 -1.93624943e-02 -4.52373733e+00] [ 1.94999400e-03 9.99996220e-01 1.93837689e-03 -2.76342882e-01] [ 1.93587147e-02 -1.97576671e-03 9.99810650e-01 1.15037843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682557844 meters Centerline goodness : 0.338872 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99804750e-01 -2.21035187e-03 -1.96361049e-02 -4.52349430e+00] [ 2.24888018e-03 9.99995589e-01 1.94025073e-03 -2.77867394e-01] [ 1.96317297e-02 -1.98403114e-03 9.99805310e-01 1.15108765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742557844 meters Centerline goodness : 0.186131 with order 2 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99803715e-01 -2.09133519e-03 -1.97017031e-02 -4.52279082e+00] [ 2.13515378e-03 9.99995293e-01 2.20332950e-03 -2.78751685e-01] [ 1.96970024e-02 -2.24496319e-03 9.99803475e-01 1.15018167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802557844 meters Centerline goodness : 0.341044 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99803108e-01 -2.15723809e-03 -1.97254130e-02 -4.52283109e+00] [ 2.19801546e-03 9.99995492e-01 2.04580371e-03 -2.78444909e-01] [ 1.97209108e-02 -2.08875767e-03 9.99803342e-01 1.15044426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862557844 meters Centerline goodness : 0.337191 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99802734e-01 -2.02777346e-03 -1.97580914e-02 -4.52346692e+00] [ 2.07083300e-03 9.99995525e-01 2.15912070e-03 -2.78857648e-01] [ 1.97536248e-02 -2.19961049e-03 9.99802458e-01 1.15161488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922557844 meters Centerline goodness : 0.348262 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99794174e-01 -2.01840479e-03 -2.01875333e-02 -4.52231033e+00] [ 2.06524672e-03 9.99995223e-01 2.29976012e-03 -2.79892916e-01] [ 2.01827950e-02 -2.34097900e-03 9.99793566e-01 1.15142680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982557844 meters Centerline goodness : 0.138353 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.29, Z:1.15 [[ 9.99822961e-01 5.19477967e-03 -1.80848427e-02 -4.53869398e+00] [-5.16468054e-03 9.99985200e-01 1.71063669e-03 -2.89694866e-01] [ 1.80934615e-02 -1.61693141e-03 9.99834992e-01 1.14800513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042557844 meters Centerline goodness : 0.201896 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.28, Z:1.15 [[ 9.99861945e-01 5.28179313e-03 -1.57541620e-02 -4.49354274e+00] [-5.29324629e-03 9.99985756e-01 -6.85383113e-04 -2.84869225e-01] [ 1.57503176e-02 7.68679152e-04 9.99875661e-01 1.14700285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102557844 meters Centerline goodness : 0.143170 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.28, Z:1.15 [[ 9.99887028e-01 -1.07327603e-03 -1.49926136e-02 -4.51766378e+00] [ 1.11791330e-03 9.99994967e-01 2.96922044e-03 -2.80029422e-01] [ 1.49893514e-02 -2.98564545e-03 9.99883196e-01 1.14743398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162557844 meters Centerline goodness : 0.141386 with order 1 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.28, Z:1.15 [[ 9.99888670e-01 8.08021188e-03 -1.25442708e-02 -4.49903165e+00] [-8.05879785e-03 9.99965984e-01 1.75668784e-03 -2.82813160e-01] [ 1.25580385e-02 -1.65540052e-03 9.99919774e-01 1.14869478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222557844 meters Centerline goodness : 0.350614 with order 1 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.28, Z:1.15 [[ 9.99890856e-01 8.08683760e-03 -1.23644285e-02 -4.50003783e+00] [-8.06422057e-03 9.99965720e-01 1.87796619e-03 -2.83880696e-01] [ 1.23791915e-02 -1.77805174e-03 9.99921794e-01 1.14957692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282557844 meters Centerline goodness : 0.348201 with order 1 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.29, Z:1.15 [[ 9.99881028e-01 7.87265505e-03 -1.32646516e-02 -4.49686252e+00] [-7.84642364e-03 9.99967159e-01 2.02842597e-03 -2.85673052e-01] [ 1.32801851e-02 -1.92410457e-03 9.99909963e-01 1.14805246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342557844 meters Centerline goodness : 0.089227 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.28, Z:1.15 [[ 9.99898399e-01 2.15860675e-04 -1.42529229e-02 -4.47635176e+00] [-1.85144506e-04 9.99997658e-01 2.15636293e-03 -2.82481121e-01] [ 1.42533550e-02 -2.15350499e-03 9.99896097e-01 1.14910308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402557844 meters Centerline goodness : 0.128122 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.28, Z:1.15 [[ 9.99898228e-01 3.05596399e-04 -1.42632190e-02 -4.47668944e+00] [-2.70622489e-04 9.99996953e-01 2.45390044e-03 -2.84086296e-01] [ 1.42639255e-02 -2.44979076e-03 9.99895264e-01 1.14976569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462557844 meters Centerline goodness : 0.134689 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.28, Z:1.15 [[ 9.99909687e-01 7.95303154e-04 -1.34158583e-02 -4.47825190e+00] [-7.59932828e-04 9.99996223e-01 2.64134830e-03 -2.82877805e-01] [ 1.34179083e-02 -2.63091460e-03 9.99906515e-01 1.14890861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522557844 meters Centerline goodness : 0.374451 with order 3 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.28, Z:1.15 [[ 9.99876963e-01 1.66366076e-03 -1.55978046e-02 -4.47136802e+00] [-1.61999509e-03 9.99994735e-01 2.81169220e-03 -2.82526993e-01] [ 1.56024002e-02 -2.78607789e-03 9.99874394e-01 1.14703879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582557844 meters Centerline goodness : 0.228822 with order 3 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.28, Z:1.15 [[ 9.99868475e-01 1.83035798e-03 -1.61146702e-02 -4.46964928e+00] [-1.78739718e-03 9.99994812e-01 2.67994282e-03 -2.81272282e-01] [ 1.61194918e-02 -2.65078703e-03 9.99866559e-01 1.14633452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642557844 meters Centerline goodness : 0.169130 with order 3 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.28, Z:1.15 [[ 9.99881899e-01 -1.71805877e-03 -1.52720592e-02 -4.47173201e+00] [ 1.70496993e-03 9.99998168e-01 -8.70023426e-04 -2.81568885e-01] [ 1.52735259e-02 8.43882274e-04 9.99882997e-01 1.14608593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702557844 meters Centerline goodness : 0.122761 with order 3 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.28, Z:1.15 [[ 9.99888019e-01 -1.61342818e-03 -1.48777402e-02 -4.47265961e+00] [ 1.60630605e-03 9.99998590e-01 -4.90647311e-04 -2.81950162e-01] [ 1.48785108e-02 4.66694163e-04 9.99889200e-01 1.14548542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762557844 meters Centerline goodness : 0.153165 with order 3 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.28, Z:1.14 [[ 9.99880475e-01 -2.04300668e-03 -1.53251994e-02 -4.47091462e+00] [ 2.02645393e-03 9.99997347e-01 -1.09555120e-03 -2.80458059e-01] [ 1.53273969e-02 1.06436444e-03 9.99881962e-01 1.14459085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822557844 meters Centerline goodness : 0.138174 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.28, Z:1.15 [[ 9.99885534e-01 1.00831485e-03 -1.50964570e-02 -4.47220758e+00] [-9.79474835e-04 9.99997682e-01 1.91765516e-03 -2.77809450e-01] [ 1.50983556e-02 -1.90264906e-03 9.99884203e-01 1.14524389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882557844 meters Centerline goodness : 0.144679 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.28, Z:1.15 [[ 9.99890267e-01 9.93224117e-04 -1.47806369e-02 -4.47364167e+00] [-9.66614184e-04 9.99997900e-01 1.80735891e-03 -2.76649217e-01] [ 1.47824010e-02 -1.79287341e-03 9.99889127e-01 1.14626645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942557844 meters Centerline goodness : 0.344023 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.28, Z:1.15 [[ 9.99882215e-01 6.87926666e-04 -1.53324073e-02 -4.47180355e+00] [-6.67659554e-04 9.99998897e-01 1.32692751e-03 -2.75306103e-01] [ 1.53333032e-02 -1.31653439e-03 9.99881571e-01 1.14546914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002557844 meters Centerline goodness : 0.217597 with order 3 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.27, Z:1.14 [[ 9.99869476e-01 4.45336740e-03 -1.55305419e-02 -4.47084604e+00] [-4.37938115e-03 9.99978916e-01 4.79467938e-03 -2.72922841e-01] [ 1.55515670e-02 -4.72603940e-03 9.99867898e-01 1.14473384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062557844 meters Centerline goodness : 0.142205 with order 1 Centerline is valid? [False, False] Translation: X:-4.47, Y:-0.27, Z:1.15 [[ 9.99888609e-01 3.98029311e-03 -1.43849279e-02 -4.47478151e+00] [-3.92681568e-03 9.99985281e-01 3.74393684e-03 -2.68391384e-01] [ 1.43996181e-02 -3.68703284e-03 9.99889522e-01 1.14625416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122557844 meters Centerline goodness : 0.346514 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.27, Z:1.15 [[ 9.99894925e-01 3.78616798e-03 -1.39929773e-02 -4.47552123e+00] [-3.73915446e-03 9.99987282e-01 3.38443039e-03 -2.66175037e-01] [ 1.40056134e-02 -3.33175287e-03 9.99896366e-01 1.14558547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182557844 meters Centerline goodness : 0.144172 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.27, Z:1.15 [[ 9.99905260e-01 3.68854522e-03 -1.32613984e-02 -4.47821699e+00] [-3.64329784e-03 9.99987465e-01 3.43450317e-03 -2.66668851e-01] [ 1.32739005e-02 -3.38586257e-03 9.99906165e-01 1.14712221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242557844 meters Centerline goodness : 0.155310 with order 3 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.27, Z:1.15 [[ 9.99917808e-01 3.92731199e-03 -1.22046144e-02 -4.48208641e+00] [-3.88050068e-03 9.99985033e-01 3.85685913e-03 -2.67088950e-01] [ 1.22195788e-02 -3.80918211e-03 9.99918083e-01 1.14870451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302557844 meters Centerline goodness : 0.184683 with order 3 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.27, Z:1.15 [[ 9.99919767e-01 3.72459390e-03 -1.21072913e-02 -4.48181526e+00] [-3.68317210e-03 9.99987294e-01 3.44172675e-03 -2.65360131e-01] [ 1.21199565e-02 -3.39685737e-03 9.99920781e-01 1.14788049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362557844 meters Centerline goodness : 0.312676 with order 1 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.26, Z:1.15 [[ 9.99920262e-01 3.65462895e-03 -1.20877720e-02 -4.48144512e+00] [-3.61563414e-03 9.99988194e-01 3.24625375e-03 -2.64186635e-01] [ 1.20994932e-02 -3.20228994e-03 9.99921671e-01 1.14713675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422557843999996 meters Centerline goodness : 0.221255 with order 3 Centerline is valid? [False, False] Translation: X:-4.48, Y:-0.26, Z:1.15 [[ 9.99922004e-01 3.65805716e-03 -1.19417119e-02 -4.48138338e+00] [-3.62262327e-03 9.99988976e-01 2.98752094e-03 -2.62075701e-01] [ 1.19525087e-02 -2.94402761e-03 9.99924232e-01 1.14630430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482557844 meters Centerline goodness : 0.350434 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.25, Z:1.15 [[ 9.99897244e-01 4.15156874e-03 -1.37209988e-02 -4.51758361e+00] [-4.15070319e-03 9.99991382e-01 9.15583495e-05 -2.52891039e-01] [ 1.37212606e-02 -3.45971479e-05 9.99905858e-01 1.14664453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542557844 meters SLAMing on 51.602557844 meters Centerline goodness : 0.128934 with order 1 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.24, Z:1.14 [[ 9.99848267e-01 8.59965659e-03 -1.51489198e-02 -4.51198430e+00] [-8.56426890e-03 9.99960448e-01 2.39931539e-03 -2.35773194e-01] [ 1.51689539e-02 -2.26921191e-03 9.99882370e-01 1.14339546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662557844 meters Centerline goodness : 0.334656 with order 1 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.23, Z:1.15 [[ 9.99874498e-01 2.35450277e-04 -1.58408306e-02 -4.49325732e+00] [-1.95986388e-04 9.99996874e-01 2.49278283e-03 -2.25892604e-01] [ 1.58413680e-02 -2.48936539e-03 9.99871419e-01 1.14560238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722557844 meters Centerline goodness : 0.186184 with order 1 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.23, Z:1.15 [[ 9.99881708e-01 -9.69491144e-05 -1.53805490e-02 -4.49501253e+00] [ 1.33755925e-04 9.99997130e-01 2.39206461e-03 -2.26103074e-01] [ 1.53802729e-02 -2.39383889e-03 9.99878851e-01 1.14674350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782557844 meters Centerline goodness : 0.141476 with order 2 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.23, Z:1.15 [[ 9.99878740e-01 -4.08622315e-03 -1.50269425e-02 -4.49582912e+00] [ 4.06669684e-03 9.99990847e-01 -1.32974756e-03 -2.27092366e-01] [ 1.50322386e-02 1.26847629e-03 9.99886205e-01 1.14659818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842557844 meters Centerline goodness : 0.130332 with order 3 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.23, Z:1.15 [[ 9.99886761e-01 -3.89456399e-03 -1.45360929e-02 -4.49761966e+00] [ 3.88123287e-03 9.99992021e-01 -9.45202266e-04 -2.28261082e-01] [ 1.45396581e-02 8.88677270e-04 9.99893899e-01 1.14746779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902557844 meters Centerline goodness : 0.127895 with order 3 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.23, Z:1.15 [[ 9.99885299e-01 -3.80096464e-03 -1.46608546e-02 -4.49744403e+00] [ 3.79043944e-03 9.99992538e-01 -7.45631654e-04 -2.29236715e-01] [ 1.46635793e-02 6.89975048e-04 9.99892246e-01 1.14776554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962557844 meters Centerline goodness : 0.345785 with order 1 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.23, Z:1.15 [[ 9.99810799e-01 -4.52759384e-03 -1.89173775e-02 -4.53539385e+00] [ 4.52220750e-03 9.99989721e-01 -3.27498501e-04 -2.33323612e-01] [ 1.89186659e-02 2.41888231e-04 9.99820997e-01 1.14553994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022557844 meters Centerline goodness : 0.119181 with order 2 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.23, Z:1.15 [[ 9.99832329e-01 4.76244005e-03 -1.76814362e-02 -4.51485637e+00] [-4.78837027e-03 9.99987521e-01 -1.42447582e-03 -2.34890495e-01] [ 1.76744316e-02 1.50890224e-03 9.99842656e-01 1.14607523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082557844 meters Centerline goodness : 0.340320 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.23, Z:1.15 [[ 9.99851320e-01 5.36996689e-03 -1.63859924e-02 -4.51807541e+00] [-5.39136995e-03 9.99984670e-01 -1.26228516e-03 -2.33029708e-01] [ 1.63789627e-02 1.35044043e-03 9.99864944e-01 1.14599758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142557844 meters Centerline goodness : 0.157177 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.23, Z:1.14 [[ 9.99843713e-01 5.38530561e-03 -1.68388663e-02 -4.51648780e+00] [-5.41661026e-03 9.99983685e-01 -1.81401607e-03 -2.29976734e-01] [ 1.68288226e-02 1.90494214e-03 9.99856571e-01 1.14498894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202557844 meters Centerline goodness : 0.144519 with order 1 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.23, Z:1.14 [[ 9.99844554e-01 5.36408878e-03 -1.67956856e-02 -4.51664647e+00] [-5.39663131e-03 9.99983647e-01 -1.89282926e-03 -2.29461383e-01] [ 1.67852576e-02 1.98317515e-03 9.99857151e-01 1.14498182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262557844 meters Centerline goodness : 0.124517 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.23, Z:1.15 [[ 9.99840819e-01 5.30979979e-03 -1.70336040e-02 -4.51632164e+00] [-5.34066388e-03 9.99984177e-01 -1.76697621e-03 -2.30691276e-01] [ 1.70239522e-02 1.85766570e-03 9.99853356e-01 1.14551153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322557844 meters Centerline goodness : 0.130391 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.23, Z:1.15 [[ 9.99837982e-01 5.20141045e-03 -1.72323977e-02 -4.51556748e+00] [-5.23385161e-03 9.99984614e-01 -1.83800357e-03 -2.30890125e-01] [ 1.72225724e-02 1.92789759e-03 9.99849822e-01 1.14510545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382557844 meters Centerline goodness : 0.382361 with order 2 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.23, Z:1.14 [[ 9.99844664e-01 5.42786811e-03 -1.67685957e-02 -4.51553523e+00] [-5.46050857e-03 9.99983284e-01 -1.90135089e-03 -2.27953373e-01] [ 1.67579951e-02 1.99262061e-03 9.99857589e-01 1.14322000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442557844 meters Centerline goodness : 0.175482 with order 3 Centerline is valid? [False, False] Translation: X:-4.52, Y:-0.23, Z:1.14 [[ 9.99845797e-01 5.24163619e-03 -1.67602701e-02 -4.51618166e+00] [-5.27921942e-03 9.99983647e-01 -2.19894323e-03 -2.27070919e-01] [ 1.67484700e-02 2.28708529e-03 9.99857119e-01 1.14419703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502557844 meters Centerline goodness : 0.147807 with order 3 Centerline is valid? [False, False] Translation: X:-4.50, Y:-0.22, Z:1.15 [[ 9.99870359e-01 -2.05411830e-03 -1.59701660e-02 -4.49741580e+00] [ 2.04163791e-03 9.99997598e-01 -7.97745883e-04 -2.21230307e-01] [ 1.59717663e-02 7.65037166e-04 9.99872151e-01 1.14650027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562557844 meters Centerline goodness : 0.189284 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.22, Z:1.15 [[ 9.99851133e-01 -2.57512813e-03 -1.70610845e-02 -4.49372637e+00] [ 2.55558576e-03 9.99996053e-01 -1.16713871e-03 -2.21397645e-01] [ 1.70640227e-02 1.12336389e-03 9.99853768e-01 1.14507174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622557844 meters Centerline goodness : 0.139459 with order 3 Centerline is valid? [False, False] Translation: X:-4.49, Y:-0.22, Z:1.14 [[ 9.99853141e-01 -2.62520462e-03 -1.69353170e-02 -4.49368024e+00] [ 2.60905723e-03 9.99996121e-01 -9.75497695e-04 -2.22625812e-01] [ 1.69378121e-02 9.31169223e-04 9.99856111e-01 1.14446021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682557844 meters Centerline goodness : 0.182990 with order 3 Centerline is valid? [False, False] Translation: X:-4.51, Y:-0.23, Z:1.14 [[ 9.99852862e-01 4.80652497e-03 -1.64666680e-02 -4.51319603e+00] [-4.83881498e-03 9.99986446e-01 -1.92165106e-03 -2.27327737e-01] [ 1.64572083e-02 2.00104747e-03 9.99862569e-01 1.14294396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742557844 meters Centerline goodness : 0.201996 with order 3 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.22, Z:1.14 [[ 9.99857155e-01 -2.46392747e-03 -1.67212074e-02 -4.53731621e+00] [ 2.46997095e-03 9.99996892e-01 3.40784269e-04 -2.22384373e-01] [ 1.67203157e-02 -3.82036486e-04 9.99860133e-01 1.14399197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802557844 meters Centerline goodness : 0.152147 with order 3 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.22, Z:1.14 [[ 9.99869718e-01 -2.49215664e-03 -1.59479321e-02 -4.53956760e+00] [ 2.49171594e-03 9.99996895e-01 -4.75039886e-05 -2.19957146e-01] [ 1.59480010e-02 7.76008302e-06 9.99872823e-01 1.14438088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862557844 meters Centerline goodness : 0.150682 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.22, Z:1.14 [[ 9.99861761e-01 2.63349999e-03 -1.64171620e-02 -4.56277459e+00] [-2.68689171e-03 9.99991171e-01 -3.23098087e-03 -2.23432596e-01] [ 1.64085082e-02 3.27464536e-03 9.99860009e-01 1.14424465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922557843999996 meters Centerline goodness : 0.153935 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.23, Z:1.14 [[ 9.99837584e-01 2.12172660e-03 -1.78970404e-02 -4.55822784e+00] [-2.18026185e-03 9.99992336e-01 -3.25178906e-03 -2.25054293e-01] [ 1.78900038e-02 3.29028115e-03 9.99834547e-01 1.14283177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982557844 meters Centerline goodness : 0.144941 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.23, Z:1.15 [[ 9.99863999e-01 -9.71887825e-05 -1.64916319e-02 -4.56443231e+00] [ 8.82157438e-06 9.99985644e-01 -5.35829401e-03 -2.25290558e-01] [ 1.64919159e-02 5.35741980e-03 9.99849646e-01 1.14585695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042557844 meters Centerline goodness : 0.132645 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.23, Z:1.15 [[ 9.99878226e-01 2.29086536e-04 -1.56038614e-02 -4.56705014e+00] [-3.08544163e-04 9.99986998e-01 -5.08996012e-03 -2.25523177e-01] [ 1.56024925e-02 5.09415478e-03 9.99865297e-01 1.14657275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102557844 meters Centerline goodness : 0.175305 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.22, Z:1.15 [[ 9.99872001e-01 3.65463894e-04 -1.59952608e-02 -4.56547853e+00] [-4.48393458e-04 9.99986476e-01 -5.18135422e-03 -2.24730996e-01] [ 1.59931509e-02 5.18786318e-03 9.99858643e-01 1.14547595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162557844 meters Centerline goodness : 0.146334 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.22, Z:1.14 [[ 9.99864407e-01 2.60157209e-04 -1.64651222e-02 -4.56377361e+00] [-3.50514585e-04 9.99984895e-01 -5.48515687e-03 -2.24055472e-01] [ 1.64634465e-02 5.49018439e-03 9.99849395e-01 1.14457850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222557844 meters Centerline goodness : 0.152466 with order 1 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.22, Z:1.14 [[ 9.99864466e-01 3.48295809e-04 -1.64599188e-02 -4.56337369e+00] [-4.41069848e-04 9.99984037e-01 -5.63306665e-03 -2.22737547e-01] [ 1.64576941e-02 5.63956315e-03 9.99848658e-01 1.14376760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282557844 meters Centerline goodness : 0.188653 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.22, Z:1.14 [[ 9.99860254e-01 3.41512173e-04 -1.67139690e-02 -4.56246122e+00] [-4.35449629e-04 9.99984130e-01 -5.61697964e-03 -2.22942495e-01] [ 1.67117855e-02 5.62347278e-03 9.99844534e-01 1.14328817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342557844 meters Centerline goodness : 0.113329 with order 1 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.22, Z:1.14 [[ 9.99853615e-01 3.98524707e-04 -1.71052525e-02 -4.56119253e+00] [-4.92081180e-04 9.99984942e-01 -5.46559836e-03 -2.23672505e-01] [ 1.71028168e-02 5.47321545e-03 9.99838756e-01 1.14274528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402557844 meters Centerline goodness : 0.122069 with order 2 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.22, Z:1.14 [[ 9.99851482e-01 4.61494115e-04 -1.72279348e-02 -4.56062554e+00] [-5.53997674e-04 9.99985455e-01 -5.36500715e-03 -2.24022412e-01] [ 1.72252083e-02 5.37375458e-03 9.99837194e-01 1.14226366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462557844 meters Centerline goodness : 0.129711 with order 2 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.22, Z:1.14 [[ 9.99857045e-01 3.78369136e-04 -1.69040358e-02 -4.56169256e+00] [-4.75004176e-04 9.99983568e-01 -5.71303527e-03 -2.22318387e-01] [ 1.69015964e-02 5.72024805e-03 9.99840795e-01 1.14271318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522557844 meters Centerline goodness : 0.139954 with order 3 Centerline is valid? [False, False] Translation: X:-4.54, Y:-0.21, Z:1.14 [[ 9.99871562e-01 -3.70154089e-03 -1.55935220e-02 -4.54094792e+00] [ 3.67330557e-03 9.99991562e-01 -1.83896137e-03 -2.14624874e-01] [ 1.56001974e-02 1.78144540e-03 9.99876723e-01 1.14324746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582557844 meters Centerline goodness : 0.221292 with order 3 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.21, Z:1.15 [[ 9.99900284e-01 -2.68245994e-03 -1.38646057e-02 -4.54729083e+00] [ 2.66580100e-03 9.99995703e-01 -1.21988588e-03 -2.12868889e-01] [ 1.38678184e-02 1.18280396e-03 9.99903138e-01 1.14572921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642557844 meters Centerline goodness : 0.202658 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.21, Z:1.15 [[ 9.99862151e-01 4.84237960e-03 -1.58817626e-02 -4.56782373e+00] [-4.89009441e-03 9.99983642e-01 -2.96692053e-03 -2.12451929e-01] [ 1.58671358e-02 3.04417486e-03 9.99869475e-01 1.14519624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702557844 meters Centerline goodness : 0.116061 with order 2 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.21, Z:1.15 [[ 9.99873973e-01 -3.28326420e-03 -1.55325173e-02 -4.54721262e+00] [ 3.25024975e-03 9.99992406e-01 -2.15027212e-03 -2.05594941e-01] [ 1.55394593e-02 2.09951657e-03 9.99877051e-01 1.14672973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762557844 meters Centerline goodness : 0.142332 with order 3 Centerline is valid? [False, False] Translation: X:-4.55, Y:-0.21, Z:1.15 [[ 9.99875274e-01 -4.00814840e-03 -1.52765054e-02 -4.54825438e+00] [ 3.97110765e-03 9.99989103e-01 -2.45425065e-03 -2.06045790e-01] [ 1.52861760e-02 2.39327990e-03 9.99880295e-01 1.14759187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822557844 meters Centerline goodness : 0.132519 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.21, Z:1.15 [[ 9.99890672e-01 4.76019453e-04 -1.47789618e-02 -4.57076286e+00] [-5.64923312e-04 9.99981768e-01 -6.01197684e-03 -2.11134646e-01] [ 1.47758305e-02 6.01966854e-03 9.99872711e-01 1.14705931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882557844 meters Centerline goodness : 0.140089 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.21, Z:1.15 [[ 9.99897523e-01 2.41947646e-04 -1.43137899e-02 -4.57181506e+00] [-3.25787877e-04 9.99982805e-01 -5.85526304e-03 -2.12718010e-01] [ 1.43121271e-02 5.85932627e-03 9.99880409e-01 1.14696757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942557844 meters Centerline goodness : 0.126865 with order 3 Centerline is valid? [False, False] Translation: X:-4.59, Y:-0.22, Z:1.15 [[ 0.99983565 0.00785524 -0.01633913 -4.59038227] [-0.00797334 0.99994247 -0.00717491 -0.21705411] [ 0.01628183 0.00730401 0.99984076 1.1454432 ] [ 0. 0. 0. 1. ]] SLAMing on 54.002557844 meters Centerline goodness : 0.119834 with order 2 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.21, Z:1.14 [[ 0.99978183 0.00968219 -0.01850795 -4.58165619] [-0.00979329 0.99993451 -0.00592207 -0.2140475 ] [ 0.0184494 0.00610203 0.99981117 1.14160471] [ 0. 0. 0. 1. ]] SLAMing on 54.062557844 meters Centerline goodness : 0.140506 with order 3 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.21, Z:1.14 [[ 0.9997933 0.00962463 -0.01790867 -4.58348624] [-0.00974436 0.99993068 -0.00660998 -0.2099184 ] [ 0.01784381 0.00678312 0.99981778 1.14206157] [ 0. 0. 0. 1. ]] SLAMing on 54.122557844 meters Centerline goodness : 0.126861 with order 3 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.21, Z:1.14 [[ 0.99979726 0.00944347 -0.01778371 -4.58395295] [-0.00957163 0.99992873 -0.00713527 -0.2072924 ] [ 0.01771507 0.00730405 0.9998164 1.14225998] [ 0. 0. 0. 1. ]] SLAMing on 54.182557844 meters Centerline goodness : 0.143724 with order 2 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.20, Z:1.14 [[ 0.99975763 0.01161789 -0.01870025 -4.57924037] [-0.01172972 0.99991391 -0.0058817 -0.19932345] [ 0.0186303 0.00609962 0.99980783 1.13941632] [ 0. 0. 0. 1. ]] SLAMing on 54.242557844 meters Centerline goodness : 0.143205 with order 3 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.20, Z:1.14 [[ 0.99976448 0.01145326 -0.01843401 -4.58031112] [-0.01157047 0.99991344 -0.00626449 -0.19729963] [ 0.01836067 0.00647631 0.99981045 1.13992253] [ 0. 0. 0. 1. ]] SLAMing on 54.302557844 meters Centerline goodness : 0.127641 with order 3 Centerline is valid? [False, False] Translation: X:-4.58, Y:-0.20, Z:1.14 [[ 0.99976987 0.01112469 -0.01834244 -4.58127332] [-0.01124708 0.99991508 -0.00658292 -0.19677977] [ 0.01826765 0.0067877 0.99981009 1.14102331] [ 0. 0. 0. 1. ]] SLAMing on 54.362557844 meters Centerline goodness : 0.157383 with order 3 Centerline is valid? [False, False] Translation: X:-4.56, Y:-0.19, Z:1.14 [[ 9.99871889e-01 3.78272024e-03 -1.55530463e-02 -4.56453589e+00] [-3.85371325e-03 9.99982281e-01 -4.53713859e-03 -1.90630362e-01] [ 1.55356080e-02 4.59649431e-03 9.99868750e-01 1.14263805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422557843999996 meters Centerline goodness : 0.231177 with order 3 Centerline is valid? [False, False] Translation: X:-4.57, Y:-0.19, Z:1.14 [[ 9.99893542e-01 3.75923638e-03 -1.40986521e-02 -4.56932078e+00] [-3.82370684e-03 9.99982344e-01 -4.54864523e-03 -1.90601320e-01] [ 1.40813038e-02 4.60207011e-03 9.99890263e-01 1.14472678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482557844 meters Centerline goodness : 0.129233 with order 3 Centerline is valid? [False, False] Translation: X:-4.59, Y:-0.19, Z:1.15 [[ 9.99856635e-01 -2.94495666e-03 -1.66744526e-02 -4.59111429e+00] [ 2.91763991e-03 9.99994362e-01 -1.66232945e-03 -1.88608706e-01] [ 1.66792541e-02 1.61344108e-03 9.99859590e-01 1.14503129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542557844 meters Centerline goodness : 0.135426 with order 3 Centerline is valid? [False, False] Translation: X:-4.59, Y:-0.19, Z:1.14 [[ 9.99842136e-01 -2.86859713e-03 -1.75349412e-02 -4.58868709e+00] [ 2.83428162e-03 9.99994020e-01 -1.98151723e-03 -1.86722744e-01] [ 1.75405206e-02 1.93150546e-03 9.99844288e-01 1.14443480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602557844 meters Centerline goodness : 0.138999 with order 3 Centerline is valid? [False, False] Translation: X:-4.59, Y:-0.19, Z:1.15 [[ 9.99855226e-01 -2.63596088e-03 -1.68100559e-02 -4.59127781e+00] [ 2.60468876e-03 9.99994837e-01 -1.88194465e-03 -1.86315241e-01] [ 1.68149299e-02 1.83788723e-03 9.99856930e-01 1.14556831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662557844 meters Centerline goodness : 0.129554 with order 3 Centerline is valid? [False, False] Translation: X:-4.62, Y:-0.19, Z:1.15 [[ 9.99870469e-01 2.82903745e-03 -1.58443057e-02 -4.61514386e+00] [-2.90410835e-03 9.99984658e-01 -4.71703443e-03 -1.91119874e-01] [ 1.58307180e-02 4.76243701e-03 9.99863344e-01 1.14503396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722557844 meters Centerline goodness : 0.135597 with order 3 Centerline is valid? [False, False] Translation: X:-4.61, Y:-0.19, Z:1.14 [[ 9.99860017e-01 2.77400514e-03 -1.65000244e-02 -4.61318788e+00] [-2.84933556e-03 9.99985618e-01 -4.54371753e-03 -1.92616266e-01] [ 1.64871828e-02 4.59009559e-03 9.99853541e-01 1.14452062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782557844 meters Centerline goodness : 0.138338 with order 3 Centerline is valid? [False, False] Translation: X:-4.61, Y:-0.19, Z:1.14 [[ 9.99846136e-01 2.67589454e-03 -1.73362086e-02 -4.61007548e+00] [-2.75298122e-03 9.99986424e-01 -4.42423302e-03 -1.94087744e-01] [ 1.73241345e-02 4.47127855e-03 9.99839928e-01 1.14295265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842557844 meters Centerline goodness : 0.129961 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.20, Z:1.14 [[ 9.99808735e-01 1.63119129e-03 -1.94892746e-02 -4.65684314e+00] [-1.70081707e-03 9.99992229e-01 -3.55647663e-03 -2.01207155e-01] [ 1.94833219e-02 3.58894410e-03 9.99803741e-01 1.14431554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902557844 meters Centerline goodness : 0.127760 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.20, Z:1.14 [[ 9.99801262e-01 1.78752797e-03 -1.98555023e-02 -4.65584192e+00] [-1.84961232e-03 9.99993457e-01 -3.10888409e-03 -2.03498392e-01] [ 1.98498151e-02 3.14499122e-03 9.99798027e-01 1.14419464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962557844 meters Centerline goodness : 0.131023 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.20, Z:1.14 [[ 9.99805629e-01 1.92955990e-03 -1.96209571e-02 -4.65619438e+00] [-1.98550566e-03 9.99994018e-01 -2.83224612e-03 -2.04869983e-01] [ 1.96153748e-02 2.87065313e-03 9.99803479e-01 1.14377935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022557844 meters Centerline goodness : 0.129524 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.20, Z:1.14 [[ 9.99797245e-01 1.97444708e-03 -2.00392068e-02 -4.65451651e+00] [-2.03520188e-03 9.99993393e-01 -3.01185569e-03 -2.03788638e-01] [ 2.00331277e-02 3.05202885e-03 9.99794658e-01 1.14261984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082557844 meters Centerline goodness : 0.139667 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.20, Z:1.14 [[ 9.99786052e-01 2.00420232e-03 -2.05871995e-02 -4.65270927e+00] [-2.06885728e-03 9.99992994e-01 -3.11972378e-03 -2.03176541e-01] [ 2.05808027e-02 3.16164830e-03 9.99783194e-01 1.14182052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142557844 meters Centerline goodness : 0.133058 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.20, Z:1.14 [[ 9.99784898e-01 2.14778230e-03 -2.06287496e-02 -4.65281113e+00] [-2.20553078e-03 9.99993712e-01 -2.77707456e-03 -2.04829417e-01] [ 2.06226553e-02 2.82197455e-03 9.99783348e-01 1.14222093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202557844 meters Centerline goodness : 0.123437 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.21, Z:1.14 [[ 9.99793542e-01 2.25273786e-03 -2.01940025e-02 -4.65434795e+00] [-2.30498908e-03 9.99994055e-01 -2.56456029e-03 -2.05634436e-01] [ 2.01881051e-02 2.61057777e-03 9.99792791e-01 1.14292710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262557844 meters Centerline goodness : 0.123915 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.21, Z:1.14 [[ 9.99793085e-01 2.18881665e-03 -2.02236413e-02 -4.65435394e+00] [-2.24162923e-03 9.99994136e-01 -2.58912779e-03 -2.05657162e-01] [ 2.02178556e-02 2.63392597e-03 9.99792129e-01 1.14307471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322557844 meters Centerline goodness : 0.229492 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.21, Z:1.14 [[ 9.99785769e-01 2.26324447e-03 -2.05740988e-02 -4.65347829e+00] [-2.31110967e-03 9.99994677e-01 -2.30299913e-03 -2.06896632e-01] [ 2.05687770e-02 2.35005476e-03 9.99785678e-01 1.14308120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382557844 meters Centerline goodness : 0.129462 with order 3 Centerline is valid? [False, False] Translation: X:-4.65, Y:-0.21, Z:1.14 [[ 9.99791120e-01 -1.33823339e-03 -2.03942475e-02 -4.65473247e+00] [ 1.23160806e-03 9.99985513e-01 -5.23986966e-03 -2.10994778e-01] [ 2.04009642e-02 5.21365744e-03 9.99778285e-01 1.14422579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442557844 meters Centerline goodness : 0.123387 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.14 [[ 9.99795958e-01 -1.51007227e-03 -2.01435134e-02 -4.65530559e+00] [ 1.41508123e-03 9.99987816e-01 -4.72913449e-03 -2.15501855e-01] [ 2.01504093e-02 4.69966484e-03 9.99785914e-01 1.14435780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502557844 meters Centerline goodness : 0.124886 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.14 [[ 9.99800411e-01 -1.19768868e-03 -1.99424861e-02 -4.65604804e+00] [ 1.11530949e-03 9.99990802e-01 -4.14144817e-03 -2.17773173e-01] [ 1.99472628e-02 4.11837954e-03 9.99792551e-01 1.14473563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562557844 meters Centerline goodness : 0.126023 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.14 [[ 9.99809712e-01 -8.83477849e-04 -1.94874322e-02 -4.65730491e+00] [ 8.05799567e-04 9.99991701e-01 -3.99356282e-03 -2.17759844e-01] [ 1.94907987e-02 3.97709993e-03 9.99802126e-01 1.14498432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622557844 meters Centerline goodness : 0.124631 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.14 [[ 9.99818240e-01 9.60024738e-05 -1.90651023e-02 -4.65801768e+00] [-1.68290003e-04 9.99992804e-01 -3.79004687e-03 -2.15744093e-01] [ 1.90646012e-02 3.79256646e-03 9.99811061e-01 1.14413565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682557844 meters Centerline goodness : 0.135681 with order 2 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.21, Z:1.14 [[ 9.99836005e-01 6.30169660e-04 -1.80987709e-02 -4.66078610e+00] [-6.98125362e-04 9.99992730e-01 -3.74864096e-03 -2.14330867e-01] [ 1.80962770e-02 3.76066142e-03 9.99829177e-01 1.14444287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742557844 meters Centerline goodness : 0.136287 with order 2 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.14 [[ 9.99833494e-01 6.65213857e-04 -1.82357240e-02 -4.66070663e+00] [-7.29831409e-04 9.99993478e-01 -3.53703367e-03 -2.15646035e-01] [ 1.82332522e-02 3.54975374e-03 9.99827459e-01 1.14487260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802557844 meters Centerline goodness : 0.128334 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.15 [[ 9.99851203e-01 -5.92059726e-05 -1.72501742e-02 -4.66409922e+00] [ 1.21062830e-06 9.99994348e-01 -3.36200604e-03 -2.20166559e-01] [ 1.72502757e-02 3.36148490e-03 9.99845552e-01 1.14653460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862557844 meters Centerline goodness : 0.123448 with order 1 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.23, Z:1.14 [[ 9.99839369e-01 -3.81751222e-03 -1.75117844e-02 -4.66190603e+00] [ 3.71991454e-03 9.99977387e-01 -5.60244905e-03 -2.31422053e-01] [ 1.75327758e-02 5.53640678e-03 9.99830961e-01 1.14485691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922557843999996 meters Centerline goodness : 0.131203 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.24, Z:1.14 [[ 9.99818232e-01 -3.89033299e-03 -1.86646349e-02 -4.65766987e+00] [ 3.79454097e-03 9.99979462e-01 -5.16494661e-03 -2.35298747e-01] [ 1.86843450e-02 5.09318407e-03 9.99812460e-01 1.14288232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982557844 meters Centerline goodness : 0.166342 with order 3 Centerline is valid? [False, False] Translation: X:-4.68, Y:-0.24, Z:1.14 [[ 0.99976577 0.00555376 -0.02091796 -4.67717207] [-0.00565794 0.99997187 -0.00492448 -0.23926025] [ 0.02089002 0.00504168 0.99976907 1.14205412] [ 0. 0. 0. 1. ]] SLAMing on 56.042557844 meters Centerline goodness : 0.147304 with order 1 Centerline is valid? [False, False] Translation: X:-4.63, Y:-0.23, Z:1.14 [[ 9.99771736e-01 1.01743151e-02 -1.87872265e-02 -4.63279806e+00] [-1.02442940e-02 9.99940929e-01 -3.63233244e-03 -2.27359031e-01] [ 1.87491603e-02 3.82396518e-03 9.99816906e-01 1.14132381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102557844 meters Centerline goodness : 0.140706 with order 1 Centerline is valid? [False, False] Translation: X:-4.63, Y:-0.22, Z:1.14 [[ 9.99728722e-01 1.39146352e-02 -1.86779136e-02 -4.63316846e+00] [-1.39297561e-02 9.99902745e-01 -6.79701477e-04 -2.21751558e-01] [ 1.86666393e-02 9.39695871e-04 9.99825322e-01 1.14153441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162557844 meters Centerline goodness : 0.137121 with order 2 Centerline is valid? [False, False] Translation: X:-4.63, Y:-0.22, Z:1.14 [[ 9.99741534e-01 1.34048490e-02 -1.83623060e-02 -4.63435353e+00] [-1.34405315e-02 9.99908013e-01 -1.82121566e-03 -2.16382514e-01] [ 1.83362038e-02 2.06754410e-03 9.99829740e-01 1.14185701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222557844 meters Centerline goodness : 0.138053 with order 2 Centerline is valid? [False, False] Translation: X:-4.62, Y:-0.21, Z:1.14 [[ 9.99874580e-01 2.53711036e-03 -1.56329035e-02 -4.61959683e+00] [-2.58406257e-03 9.99992209e-01 -2.98395536e-03 -2.09939602e-01] [ 1.56252111e-02 3.02397752e-03 9.99873346e-01 1.14455416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282557844 meters Centerline goodness : 0.125534 with order 3 Centerline is valid? [False, False] Translation: X:-4.64, Y:-0.21, Z:1.14 [[ 9.99832491e-01 -9.03356660e-03 -1.59180587e-02 -4.64274178e+00] [ 8.98745429e-03 9.99955213e-01 -2.96601502e-03 -2.13655300e-01] [ 1.59441394e-02 2.82245536e-03 9.99868900e-01 1.14467884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342557844 meters Centerline goodness : 0.126999 with order 2 Centerline is valid? [False, False] Translation: X:-4.64, Y:-0.22, Z:1.14 [[ 9.99803369e-01 -1.00364794e-02 -1.71024340e-02 -4.63888503e+00] [ 9.98156161e-03 9.99944759e-01 -3.29345140e-03 -2.16685284e-01] [ 1.71345439e-02 3.12209480e-03 9.99848318e-01 1.14363512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402557844 meters Centerline goodness : 0.148385 with order 1 Centerline is valid? [False, False] Translation: X:-4.64, Y:-0.22, Z:1.14 [[ 9.99793680e-01 -9.96246379e-03 -1.77016266e-02 -4.63686494e+00] [ 9.91097703e-03 9.99946403e-01 -2.99394134e-03 -2.18120012e-01] [ 1.77305048e-02 2.81788322e-03 9.99838831e-01 1.14276158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462557844 meters Centerline goodness : 0.145591 with order 1 Centerline is valid? [False, False] Translation: X:-4.64, Y:-0.22, Z:1.14 [[ 9.99795964e-01 -9.85721687e-03 -1.76313591e-02 -4.63692920e+00] [ 9.80885547e-03 9.99947895e-01 -2.82729979e-03 -2.18869151e-01] [ 1.76583098e-02 2.65377947e-03 9.99840558e-01 1.14259094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522557844 meters Centerline goodness : 0.143325 with order 1 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.14 [[ 9.99888527e-01 -2.30287561e-03 -1.47522860e-02 -4.65886324e+00] [ 2.26375787e-03 9.99993879e-01 -2.66778931e-03 -2.23420629e-01] [ 1.47583393e-02 2.63409632e-03 9.99887620e-01 1.14153575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582557844 meters Centerline goodness : 0.342491 with order 1 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.14 [[ 9.99883070e-01 -2.50662384e-03 -1.50851913e-02 -4.65759245e+00] [ 2.45625151e-03 9.99991349e-01 -3.35679278e-03 -2.20586326e-01] [ 1.50934750e-02 3.31934724e-03 9.99880577e-01 1.14073843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642557844 meters Centerline goodness : 0.140329 with order 1 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.22, Z:1.14 [[ 9.99877621e-01 -2.48977086e-03 -1.54448445e-02 -4.65604820e+00] [ 2.43039079e-03 9.99989588e-01 -3.86223186e-03 -2.17415489e-01] [ 1.54542997e-02 3.82422220e-03 9.99873262e-01 1.13945875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702557844 meters Centerline goodness : 0.136007 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.21, Z:1.14 [[ 9.99891617e-01 -2.24306621e-03 -1.45506795e-02 -4.65853876e+00] [ 2.17990849e-03 9.99988141e-01 -4.35494347e-03 -2.13300964e-01] [ 1.45602754e-02 4.32275232e-03 9.99884649e-01 1.13964529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762557844 meters Centerline goodness : 0.197772 with order 3 Centerline is valid? [False, False] Translation: X:-4.68, Y:-0.22, Z:1.14 [[ 0.99987553 0.00537754 -0.01483238 -4.67848198] [-0.00546195 0.99996909 -0.00565623 -0.21720316] [ 0.0148015 0.00573654 0.999874 1.13830653] [ 0. 0. 0. 1. ]] SLAMing on 56.822557844 meters Centerline goodness : 0.142798 with order 1 Centerline is valid? [False, False] Translation: X:-4.68, Y:-0.22, Z:1.14 [[ 0.99987056 0.00533589 -0.01517881 -4.67670881] [-0.00542774 0.99996717 -0.00601618 -0.21511844] [ 0.01514621 0.00609779 0.9998667 1.13665696] [ 0. 0. 0. 1. ]] SLAMing on 56.882557844 meters Centerline goodness : 0.198902 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.21, Z:1.14 [[ 9.99891952e-01 -1.64901372e-03 -1.46070359e-02 -4.65919687e+00] [ 1.57724419e-03 9.99986636e-01 -4.92351145e-03 -2.08167062e-01] [ 1.46149596e-02 4.89994061e-03 9.99881190e-01 1.13822741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942557844 meters Centerline goodness : 0.140936 with order 1 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.21, Z:1.14 [[ 9.99890163e-01 -1.75314038e-03 -1.47169585e-02 -4.65907923e+00] [ 1.67697089e-03 9.99985145e-01 -5.18637272e-03 -2.06876780e-01] [ 1.47258323e-02 5.16112315e-03 9.99878249e-01 1.13846831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002557844 meters Centerline goodness : 0.122138 with order 3 Centerline is valid? [False, False] Translation: X:-4.66, Y:-0.21, Z:1.14 [[ 9.99880605e-01 -1.87524737e-03 -1.53381906e-02 -4.65685915e+00] [ 1.79083879e-03 9.99983188e-01 -5.51504878e-03 -2.05513468e-01] [ 1.53482748e-02 5.48692208e-03 9.99867153e-01 1.13731365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062557844 meters Centerline goodness : 0.147196 with order 1 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.21, Z:1.14 [[ 9.99831205e-01 -3.06365551e-03 -1.81156310e-02 -4.70214712e+00] [ 2.96642795e-03 9.99981066e-01 -5.39149177e-03 -2.07412069e-01] [ 1.81318056e-02 5.33684300e-03 9.99821362e-01 1.13804355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122557844 meters Centerline goodness : 0.124801 with order 3 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.21, Z:1.14 [[ 9.99840442e-01 -3.16166064e-03 -1.75810893e-02 -4.70423598e+00] [ 3.06675976e-03 9.99980597e-01 -5.42223857e-03 -2.07264870e-01] [ 1.75978915e-02 5.36745643e-03 9.99830738e-01 1.13925477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182557844 meters Centerline goodness : 0.145747 with order 1 Centerline is valid? [False, False] Translation: X:-4.70, Y:-0.21, Z:1.14 [[ 9.99836823e-01 -3.08725594e-03 -1.77987732e-02 -4.70381322e+00] [ 2.99930525e-03 9.99983172e-01 -4.96596885e-03 -2.09444303e-01] [ 1.78138049e-02 4.91177456e-03 9.99829257e-01 1.13950308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242557844 meters Centerline goodness : 0.122586 with order 3 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.21, Z:1.14 [[ 9.99847796e-01 -3.33132661e-03 -1.71256148e-02 -4.70594837e+00] [ 3.25542301e-03 9.99984764e-01 -4.45813679e-03 -2.13247363e-01] [ 1.71402053e-02 4.40170712e-03 9.99843407e-01 1.14047796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302557844 meters Centerline goodness : 0.139554 with order 3 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.22, Z:1.14 [[ 0.99984705 -0.00624137 -0.01633757 -4.70993125] [ 0.00613865 0.99996112 -0.00632984 -0.220113 ] [ 0.01637644 0.00622858 0.9998465 1.14306932] [ 0. 0. 0. 1. ]] SLAMing on 57.362557844 meters Centerline goodness : 0.130295 with order 3 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.22, Z:1.14 [[ 0.99984563 -0.00608834 -0.01648171 -4.70961832] [ 0.00599709 0.99996645 -0.00558041 -0.22377622] [ 0.01651513 0.0054807 0.99984859 1.1432575 ] [ 0. 0. 0. 1. ]] SLAMing on 57.422557843999996 meters Centerline goodness : 0.128921 with order 3 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.23, Z:1.14 [[ 0.99985029 -0.0060793 -0.01619992 -4.7106695 ] [ 0.00600055 0.99996997 -0.00490506 -0.22930526] [ 0.01622925 0.00480712 0.99985674 1.14391423] [ 0. 0. 0. 1. ]] SLAMing on 57.482557844 meters Centerline goodness : 0.086402 with order 1 Centerline is valid? [False, False] Translation: X:-4.71, Y:-0.23, Z:1.14 [[ 9.99844871e-01 -5.88736062e-03 -1.66004018e-02 -4.70952523e+00] [ 5.81262471e-03 9.99972770e-01 -4.54671547e-03 -2.30873480e-01] [ 1.66267180e-02 4.44951823e-03 9.99851866e-01 1.14371901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542557844 meters Centerline goodness : 0.133209 with order 3 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.24, Z:1.14 [[ 9.99840457e-01 1.38655134e-03 -1.78083970e-02 -4.72759582e+00] [-1.49395206e-03 9.99980770e-01 -6.01901666e-03 -2.38682144e-01] [ 1.77997089e-02 6.04466126e-03 9.99823301e-01 1.14135441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602557843999996 meters Centerline goodness : 0.151152 with order 1 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.24, Z:1.14 [[ 9.99849970e-01 1.87532373e-03 -1.72197908e-02 -4.72939638e+00] [-1.96256754e-03 9.99985318e-01 -5.05098513e-03 -2.42667681e-01] [ 1.72100658e-02 5.08402234e-03 9.99838970e-01 1.14191374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662557844 meters Centerline goodness : 0.341913 with order 1 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.24, Z:1.14 [[ 9.99831265e-01 2.11558226e-03 -1.82473459e-02 -4.72616943e+00] [-2.20123178e-03 9.99986649e-01 -4.67499993e-03 -2.44882117e-01] [ 1.82372119e-02 4.71437773e-03 9.99822574e-01 1.14082848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722557844 meters Centerline goodness : 0.147120 with order 1 Centerline is valid? [False, False] Translation: X:-4.72, Y:-0.24, Z:1.14 [[ 9.99819670e-01 3.11162284e-03 -1.87335497e-02 -4.72404361e+00] [-3.19191108e-03 9.99985843e-01 -4.25742585e-03 -2.43556554e-01] [ 1.87200370e-02 4.31645393e-03 9.99815447e-01 1.13924210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782557844 meters Centerline goodness : 0.347541 with order 1 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.24, Z:1.14 [[ 9.99830008e-01 3.25073079e-03 -1.81490527e-02 -4.72507958e+00] [-3.33691106e-03 9.99983292e-01 -4.72020967e-03 -2.40870744e-01] [ 1.81334053e-02 4.77996905e-03 9.99824150e-01 1.13843623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842557844 meters Centerline goodness : 0.142123 with order 1 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.24, Z:1.14 [[ 9.99839898e-01 3.36632465e-03 -1.75740001e-02 -4.72724177e+00] [-3.45170631e-03 9.99982377e-01 -4.83033768e-03 -2.39328299e-01] [ 1.75574300e-02 4.89022463e-03 9.99833897e-01 1.13940980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902557844 meters Centerline goodness : 0.338173 with order 1 Centerline is valid? [False, False] Translation: X:-4.73, Y:-0.24, Z:1.14 [[ 9.99838665e-01 3.41959509e-03 -1.76337717e-02 -4.72738160e+00] [-3.50016757e-03 9.99983567e-01 -4.54037764e-03 -2.40823020e-01] [ 1.76179557e-02 4.60136627e-03 9.99834204e-01 1.13989674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962557844 meters Centerline goodness : 0.352184 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.25, Z:1.14 [[ 9.99794602e-01 -5.46611706e-04 -2.02596666e-02 -4.77054828e+00] [ 4.33862048e-04 9.99984398e-01 -5.56920534e-03 -2.48832880e-01] [ 2.02623947e-02 5.55927154e-03 9.99779241e-01 1.13990412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022557844 meters Centerline goodness : 0.131919 with order 3 Centerline is valid? [False, False] Translation: X:-4.75, Y:-0.25, Z:1.14 [[ 0.99976974 -0.00961448 -0.01918426 -4.74782336] [ 0.00951423 0.99994064 -0.00530995 -0.24851173] [ 0.01923417 0.00512621 0.99980186 1.13911091] [ 0. 0. 0. 1. ]] SLAMing on 58.082557844 meters Centerline goodness : 0.428043 with order 2 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.26, Z:1.14 [[ 9.99808117e-01 -1.39928488e-03 -1.95389726e-02 -4.76996652e+00] [ 1.29226661e-03 9.99984102e-01 -5.48872184e-03 -2.55425531e-01] [ 1.95463422e-02 5.46241909e-03 9.99794030e-01 1.13971718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142557844 meters Centerline goodness : 0.341846 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.25, Z:1.14 [[ 9.99820081e-01 -1.00039939e-03 -1.89421630e-02 -4.77163333e+00] [ 8.99495610e-04 9.99985366e-01 -5.33471134e-03 -2.54682292e-01] [ 1.89472226e-02 5.31671313e-03 9.99806349e-01 1.13993596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202557844 meters Centerline goodness : 0.310553 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.25, Z:1.14 [[ 9.99837098e-01 -8.43357670e-04 -1.80295780e-02 -4.77423177e+00] [ 7.46798550e-04 9.99985347e-01 -5.36165720e-03 -2.54291476e-01] [ 1.80338357e-02 5.34731932e-03 9.99823078e-01 1.14044805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262557844 meters Centerline goodness : 0.345633 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.25, Z:1.14 [[ 9.99822796e-01 -9.35237891e-04 -1.88016383e-02 -4.77166599e+00] [ 8.27600882e-04 9.99983230e-01 -5.73183988e-03 -2.52615043e-01] [ 1.88066836e-02 5.71526393e-03 9.99806804e-01 1.13932968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322557844 meters Centerline goodness : 0.143389 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.25, Z:1.14 [[ 9.99817911e-01 -9.71971741e-04 -1.90578314e-02 -4.77085189e+00] [ 8.63783741e-04 9.99983472e-01 -5.68423654e-03 -2.53189031e-01] [ 1.90630413e-02 5.66673966e-03 9.99802225e-01 1.13902725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382557844 meters Centerline goodness : 0.341082 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.25, Z:1.14 [[ 9.99830861e-01 -9.05973199e-04 -1.83692284e-02 -4.77331744e+00] [ 8.08565188e-04 9.99985578e-01 -5.30951564e-03 -2.54853389e-01] [ 1.83737737e-02 5.29376488e-03 9.99817174e-01 1.14034660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442557844 meters Centerline goodness : 0.345081 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.26, Z:1.14 [[ 9.99835120e-01 -9.21056250e-04 -1.81351693e-02 -4.77425174e+00] [ 8.33632171e-04 9.99987999e-01 -4.82766238e-03 -2.57530110e-01] [ 1.81393982e-02 4.81174833e-03 9.99823889e-01 1.14102592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502557844 meters Centerline goodness : 0.341718 with order 1 Centerline is valid? [False, False] Translation: X:-4.77, Y:-0.26, Z:1.14 [[ 9.99824218e-01 -9.76963336e-04 -1.87237335e-02 -4.77257731e+00] [ 8.95218255e-04 9.99990034e-01 -4.37373819e-03 -2.60558596e-01] [ 1.87278198e-02 4.35620754e-03 9.99815129e-01 1.14078745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562557844 meters Centerline goodness : 0.341711 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.27, Z:1.14 [[ 9.99799967e-01 4.09977630e-03 -1.95759632e-02 -4.79422480e+00] [-4.24635091e-03 9.99963219e-01 -7.45179165e-03 -2.67822039e-01] [ 1.95446925e-02 7.53342746e-03 9.99780602e-01 1.13997907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622557844 meters Centerline goodness : 0.341115 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.27, Z:1.14 [[ 9.99791228e-01 4.44674402e-03 -1.99431116e-02 -4.79318179e+00] [-4.58514758e-03 9.99965686e-01 -6.89957019e-03 -2.70075152e-01] [ 1.99117467e-02 6.98957186e-03 9.99777309e-01 1.13995694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682557844 meters Centerline goodness : 0.332400 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.27, Z:1.14 [[ 0.99976798 0.00501943 -0.0209473 -4.79003291] [-0.00516493 0.99996287 -0.00689759 -0.26953802] [ 0.0209119 0.00700418 0.99975679 1.13959482] [ 0. 0. 0. 1. ]] SLAMing on 58.742557844 meters Centerline goodness : 0.354350 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.26, Z:1.14 [[ 0.99973637 0.00787641 -0.02156751 -4.78748717] [-0.00798342 0.99995622 -0.00487994 -0.26445626] [ 0.02152813 0.00505084 0.99975548 1.13892815] [ 0. 0. 0. 1. ]] SLAMing on 58.802557844 meters Centerline goodness : 0.351931 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.26, Z:1.14 [[ 9.99691204e-01 1.14703731e-02 -2.20437356e-02 -4.78603005e+00] [-1.15183567e-02 9.99931558e-01 -2.05100688e-03 -2.60042672e-01] [ 2.20187011e-02 2.30428115e-03 9.99754904e-01 1.13899534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862557844 meters Centerline goodness : 0.324394 with order 1 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.26, Z:1.14 [[ 9.99677512e-01 1.21330214e-02 -2.23083189e-02 -4.78502114e+00] [-1.21841990e-02 9.99923438e-01 -2.15960915e-03 -2.56535015e-01] [ 2.22804083e-02 2.43072169e-03 9.99748806e-01 1.13831099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922557843999996 meters Centerline goodness : 0.341651 with order 1 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.26, Z:1.14 [[ 9.99672392e-01 1.20919199e-02 -2.25587037e-02 -4.78415436e+00] [-1.21425924e-02 9.99924048e-01 -2.11062173e-03 -2.56932401e-01] [ 2.25314689e-02 2.38385141e-03 9.99743292e-01 1.13783554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982557844 meters Centerline goodness : 0.148326 with order 3 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.26, Z:1.14 [[ 9.99820138e-01 7.26244260e-03 -1.75199392e-02 -4.76316803e+00] [-7.26157570e-03 9.99973628e-01 1.13097224e-04 -2.55697694e-01] [ 1.75202985e-02 1.41454826e-05 9.99846508e-01 1.13773262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042557844 meters Centerline goodness : 0.350760 with order 1 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.25, Z:1.14 [[ 9.99825607e-01 7.10359122e-03 -1.72711926e-02 -4.76413197e+00] [-7.10863573e-03 9.99974707e-01 -2.30701621e-04 -2.54066147e-01] [ 1.72691169e-02 3.53436005e-04 9.99850815e-01 1.13818233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102557843999996 meters Centerline goodness : 0.345308 with order 1 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.25, Z:1.14 [[ 9.99791873e-01 7.68084468e-03 -1.89001594e-02 -4.75878461e+00] [-7.69338614e-03 9.99970231e-01 -5.90942420e-04 -2.50222756e-01] [ 1.88950578e-02 7.36225653e-04 9.99821201e-01 1.13632458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162557844 meters Centerline goodness : 0.147670 with order 1 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.24, Z:1.14 [[ 9.99794713e-01 7.94669920e-03 -1.86381738e-02 -4.75936176e+00] [-7.97238519e-03 9.99967369e-01 -1.30424122e-03 -2.44868108e-01] [ 1.86272012e-02 1.45256418e-03 9.99825443e-01 1.13586407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222557844 meters Centerline goodness : 0.139520 with order 2 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.24, Z:1.14 [[ 9.99841111e-01 8.39574127e-04 -1.78058554e-02 -4.78440204e+00] [-8.32870044e-04 9.99999579e-01 3.83922267e-04 -2.35117885e-01] [ 1.78061703e-02 -3.69031302e-04 9.99841389e-01 1.13713787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282557844 meters Centerline goodness : 0.128474 with order 3 Centerline is valid? [False, False] Translation: X:-4.78, Y:-0.23, Z:1.14 [[ 9.99842611e-01 5.31305691e-04 -1.77333294e-02 -4.78447386e+00] [-5.36456793e-04 9.99999815e-01 -2.85720072e-04 -2.31974942e-01] [ 1.77331743e-02 2.95188268e-04 9.99842711e-01 1.13686665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342557844 meters Centerline goodness : 0.140824 with order 3 Centerline is valid? [False, False] Translation: X:-4.79, Y:-0.23, Z:1.14 [[ 9.99854372e-01 1.81732429e-04 -1.70646493e-02 -4.78663234e+00] [-1.93700374e-04 9.99999736e-01 -6.99679450e-04 -2.30715366e-01] [ 1.70645176e-02 7.02882986e-04 9.99854143e-01 1.13771960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402557844 meters Centerline goodness : 0.176467 with order 3 Centerline is valid? [False, False] Translation: X:-4.76, Y:-0.22, Z:1.14 [[ 9.99811508e-01 -5.05531698e-03 -1.87454618e-02 -4.76427494e+00] [ 5.08609071e-03 9.99985795e-01 1.59435153e-03 -2.22280389e-01] [ 1.87371355e-02 -1.68939213e-03 9.99823017e-01 1.13816170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462557844 meters Centerline goodness : 0.128644 with order 3 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.22, Z:1.14 [[ 9.99732223e-01 -7.05150785e-03 -2.20399242e-02 -4.80816866e+00] [ 7.07887799e-03 9.99974267e-01 1.16407132e-03 -2.24350205e-01] [ 2.20311485e-02 -1.31977755e-03 9.99756414e-01 1.13838833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522557844 meters Centerline goodness : 0.155590 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.22, Z:1.14 [[ 9.99736104e-01 -7.16234660e-03 -2.18271420e-02 -4.80915546e+00] [ 7.19000034e-03 9.99973445e-01 1.18872732e-03 -2.24725731e-01] [ 2.18180483e-02 -1.34535077e-03 9.99761053e-01 1.13918403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582557844 meters Centerline goodness : 0.150084 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.23, Z:1.14 [[ 9.99722955e-01 -7.42514785e-03 -2.23356274e-02 -4.80766946e+00] [ 7.45668844e-03 9.99971315e-01 1.32916493e-03 -2.25970135e-01] [ 2.23251174e-02 -1.49534650e-03 9.99749645e-01 1.13892102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642557844 meters Centerline goodness : 0.153366 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.23, Z:1.14 [[ 9.99683382e-01 -1.15195657e-02 -2.23704254e-02 -4.80768953e+00] [ 1.14693342e-02 9.99931411e-01 -2.37245383e-03 -2.27959882e-01] [ 2.23962207e-02 2.11512878e-03 9.99746936e-01 1.13919316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702557844 meters Centerline goodness : 0.125141 with order 3 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.23, Z:1.14 [[ 9.99664457e-01 -1.18050994e-02 -2.30567263e-02 -4.80595295e+00] [ 1.17635595e-02 9.99928932e-01 -1.93644696e-03 -2.31367159e-01] [ 2.30779477e-02 1.66456802e-03 9.99732283e-01 1.13941023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762557844 meters Centerline goodness : 0.139335 with order 3 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.24, Z:1.14 [[ 9.99666036e-01 -1.14610687e-02 -2.31616013e-02 -4.80599792e+00] [ 1.14410285e-02 9.99934052e-01 -9.97567959e-04 -2.35949442e-01] [ 2.31715070e-02 7.32242267e-04 9.99731236e-01 1.14012226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822557844 meters Centerline goodness : 0.219101 with order 2 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.24, Z:1.14 [[ 9.99670283e-01 -1.13357778e-02 -2.30396389e-02 -4.80623349e+00] [ 1.13216134e-02 9.99935631e-01 -7.45134284e-04 -2.37088223e-01] [ 2.30466025e-02 4.84042717e-04 9.99734275e-01 1.14000034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882557844 meters Centerline goodness : 0.119758 with order 2 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.24, Z:1.14 [[ 9.99672264e-01 -1.12206576e-02 -2.30100187e-02 -4.80580776e+00] [ 1.12095908e-02 9.99936985e-01 -6.09885399e-04 -2.37535758e-01] [ 2.30154120e-02 3.51752624e-04 9.99735048e-01 1.13916215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942557844 meters Centerline goodness : 0.177547 with order 3 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.24, Z:1.14 [[ 9.99666676e-01 -1.11609811e-02 -2.32802162e-02 -4.80465586e+00] [ 1.11506120e-02 9.99937665e-01 -5.75172765e-04 -2.37520496e-01] [ 2.32851845e-02 3.15392387e-04 9.99728814e-01 1.13838442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002557844 meters Centerline goodness : 0.126424 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.24, Z:1.14 [[ 9.99761473e-01 -5.24086149e-03 -2.12021191e-02 -4.82507731e+00] [ 5.19945622e-03 9.99984468e-01 -2.00753902e-03 -2.44849124e-01] [ 2.12123110e-02 1.89682068e-03 9.99773194e-01 1.13720729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062557844 meters Centerline goodness : 0.124876 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.24, Z:1.14 [[ 9.99766949e-01 -5.19868197e-03 -2.09528562e-02 -4.82557547e+00] [ 5.15598961e-03 9.99984522e-01 -2.09105137e-03 -2.43869582e-01] [ 2.09634026e-02 1.98253134e-03 9.99778278e-01 1.13693806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122557844 meters Centerline goodness : 0.151948 with order 1 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.25, Z:1.14 [[ 9.99688102e-01 -6.05593721e-03 -2.42285661e-02 -4.87055657e+00] [ 6.01095715e-03 9.99980074e-01 -1.92888796e-03 -2.47437027e-01] [ 2.42397646e-02 1.78264947e-03 9.99704584e-01 1.13791649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182557844 meters Centerline goodness : 0.132712 with order 3 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.25, Z:1.14 [[ 9.99687245e-01 -5.93471929e-03 -2.42938651e-02 -4.87059092e+00] [ 5.89320257e-03 9.99981050e-01 -1.78017749e-03 -2.47934016e-01] [ 2.43039696e-02 1.63645206e-03 9.99703276e-01 1.13819675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242557844 meters Centerline goodness : 0.151332 with order 1 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.25, Z:1.14 [[ 9.99690299e-01 -5.79168458e-03 -2.42025281e-02 -4.87095591e+00] [ 5.75524551e-03 9.99982198e-01 -1.57497453e-03 -2.48565666e-01] [ 2.42112190e-02 1.43519526e-03 9.99705835e-01 1.13843338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302557844 meters Centerline goodness : 0.149713 with order 1 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.25, Z:1.14 [[ 9.99690558e-01 -5.68319034e-03 -2.42175460e-02 -4.87085831e+00] [ 5.65046824e-03 9.99983029e-01 -1.41939014e-03 -2.49497643e-01] [ 2.42252017e-02 1.28211045e-03 9.99705705e-01 1.13839926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362557844 meters Centerline goodness : 0.154403 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.25, Z:1.14 [[ 9.99676323e-01 3.51123447e-03 -2.51976273e-02 -4.89371621e+00] [-3.53934194e-03 9.99993163e-01 -1.07096885e-03 -2.53915493e-01] [ 2.51936946e-02 1.15980522e-03 9.99681916e-01 1.13829657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422557843999996 meters Centerline goodness : 0.154237 with order 3 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.25, Z:1.14 [[ 9.99661824e-01 3.89873501e-03 -2.57106572e-02 -4.89187565e+00] [-3.93706225e-03 9.99991213e-01 -1.44026186e-03 -2.50755225e-01] [ 2.57048161e-02 1.54099925e-03 9.99668389e-01 1.13710634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482557844 meters Centerline goodness : 0.147428 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.25, Z:1.14 [[ 9.99672870e-01 4.23717019e-03 -2.52230128e-02 -4.89300486e+00] [-4.29020880e-03 9.99988698e-01 -2.04904349e-03 -2.45953046e-01] [ 2.52140455e-02 2.15658518e-03 9.99679749e-01 1.13655679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542557844 meters Centerline goodness : 0.126808 with order 3 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.24, Z:1.14 [[ 9.99671642e-01 4.00259546e-03 -2.53098325e-02 -4.89285342e+00] [-4.06922052e-03 9.99988389e-01 -2.58142253e-03 -2.43511346e-01] [ 2.52992062e-02 2.68356619e-03 9.99676322e-01 1.13660044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602557843999996 meters SLAMing on 60.662557844 meters Centerline goodness : 0.141666 with order 2 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.23, Z:1.14 [[ 9.99761795e-01 -5.19889395e-03 -2.11972812e-02 -4.92040079e+00] [ 5.12576416e-03 9.99980728e-01 -3.50283497e-03 -2.33436669e-01] [ 2.12150835e-02 3.39334831e-03 9.99769176e-01 1.13700990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722557844 meters Centerline goodness : 0.125510 with order 3 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.23, Z:1.14 [[ 9.99755891e-01 -5.41415271e-03 -2.14206545e-02 -4.91959326e+00] [ 5.33083230e-03 9.99978010e-01 -3.94491444e-03 -2.31145293e-01] [ 2.14415419e-02 3.82976153e-03 9.99762768e-01 1.13650195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782557844 meters Centerline goodness : 0.125057 with order 3 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.23, Z:1.14 [[ 9.99727287e-01 -5.86750417e-03 -2.26036225e-02 -4.91610441e+00] [ 5.77621284e-03 9.99974904e-01 -4.10196766e-03 -2.31539644e-01] [ 2.26271235e-02 3.97028566e-03 9.99736090e-01 1.13576001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842557844 meters Centerline goodness : 0.150081 with order 3 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.24, Z:1.14 [[ 0.99969241 -0.01016705 -0.02262105 -4.91654308] [ 0.01000119 0.99992236 -0.00743332 -0.23581666] [ 0.02269487 0.00720479 0.99971648 1.13666799] [ 0. 0. 0. 1. ]] SLAMing on 60.902557844 meters Centerline goodness : 0.144167 with order 3 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.24, Z:1.14 [[ 0.99970862 -0.01035526 -0.0218049 -4.91940507] [ 0.01020818 0.99992446 -0.00684549 -0.23919771] [ 0.02187414 0.00662091 0.99973881 1.13819196] [ 0. 0. 0. 1. ]] SLAMing on 60.962557844 meters Centerline goodness : 0.124849 with order 3 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.24, Z:1.14 [[ 0.99971561 -0.01071396 -0.02130494 -4.92138211] [ 0.01057973 0.99992353 -0.0064031 -0.24342255] [ 0.02137191 0.00617588 0.99975252 1.13956283] [ 0. 0. 0. 1. ]] SLAMing on 61.022557844 meters Centerline goodness : 0.136401 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.26, Z:1.14 [[ 0.99974929 -0.00773787 -0.02101145 -4.98142235] [ 0.0075778 0.99994174 -0.00768719 -0.25581365] [ 0.0210697 0.00752604 0.99974968 1.13764389] [ 0. 0. 0. 1. ]] SLAMing on 61.082557844 meters Centerline goodness : 0.130285 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.26, Z:1.14 [[ 0.99971839 -0.00774746 -0.02243007 -4.97717734] [ 0.00759516 0.99994758 -0.00686724 -0.26076823] [ 0.0224821 0.00669495 0.99972483 1.13644384] [ 0. 0. 0. 1. ]] SLAMing on 61.142557844 meters Centerline goodness : 0.131215 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.26, Z:1.14 [[ 0.99972527 -0.00805245 -0.02201243 -4.97959665] [ 0.00791256 0.99994799 -0.00643472 -0.26471411] [ 0.0220631 0.00625878 0.99973699 1.13820405] [ 0. 0. 0. 1. ]] SLAMing on 61.202557844 meters Centerline goodness : 0.129278 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.27, Z:1.14 [[ 0.99973449 -0.00802636 -0.02159916 -4.98108872] [ 0.00790656 0.99995292 -0.00562595 -0.26831893] [ 0.0216433 0.00545368 0.99975088 1.13860913] [ 0. 0. 0. 1. ]] SLAMing on 61.262557844 meters Centerline goodness : 0.193192 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.28, Z:1.14 [[ 0.99971028 -0.01127455 -0.021266 -4.98153495] [ 0.01111738 0.99991012 -0.00749435 -0.27528076] [ 0.02134859 0.00725576 0.99974576 1.13748259] [ 0. 0. 0. 1. ]] SLAMing on 61.322557844 meters Centerline goodness : 0.131929 with order 1 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.29, Z:1.14 [[ 9.99790143e-01 -4.42848243e-03 -2.00014498e-02 -5.00005731e+00] [ 4.25371380e-03 9.99952479e-01 -8.77190673e-03 -2.87355172e-01] [ 2.00393455e-02 8.68498545e-03 9.99761469e-01 1.13558947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382557844 meters Centerline goodness : 0.124019 with order 2 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.29, Z:1.14 [[ 0.99975328 -0.01334883 -0.01775373 -4.97931012] [ 0.01320361 0.99987861 -0.00827195 -0.28994395] [ 0.01786199 0.0080355 0.99980817 1.13606493] [ 0. 0. 0. 1. ]] SLAMing on 61.442557844 meters Centerline goodness : 0.214074 with order 3 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.31, Z:1.13 [[ 0.99985212 -0.00725411 -0.0155922 -4.99689483] [ 0.00712374 0.99993934 -0.00840072 -0.30765406] [ 0.01565219 0.00828841 0.99984314 1.13309304] [ 0. 0. 0. 1. ]] SLAMing on 61.502557844 meters Centerline goodness : 0.364753 with order 1 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.32, Z:1.13 [[ 9.99887407e-01 -1.20611072e-03 -1.49572138e-02 -4.97562377e+00] [ 1.03851218e-03 9.99936650e-01 -1.12079067e-02 -3.16355639e-01] [ 1.49697842e-02 1.11911115e-02 9.99825317e-01 1.13257375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562557844 meters Centerline goodness : 0.079949 with order 1 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.32, Z:1.13 [[ 9.99885273e-01 -1.00465455e-03 -1.51139398e-02 -4.97553596e+00] [ 8.50701509e-04 9.99947727e-01 -1.01891449e-02 -3.21797264e-01] [ 1.51233863e-02 1.01751185e-02 9.99833861e-01 1.13304695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622557844 meters Centerline goodness : 0.344222 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.33, Z:1.13 [[ 9.99879388e-01 -7.95254110e-04 -1.55105460e-02 -4.97467842e+00] [ 6.51088302e-04 9.99956565e-01 -9.29753183e-03 -3.26302430e-01] [ 1.55172662e-02 9.28631171e-03 9.99836476e-01 1.13314593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682557844 meters Centerline goodness : 0.166063 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.33, Z:1.13 [[ 9.99876230e-01 -7.54913104e-04 -1.57148143e-02 -4.97383468e+00] [ 6.14079164e-04 9.99959627e-01 -8.96475542e-03 -3.28078617e-01] [ 1.57209475e-02 8.95399571e-03 9.99836325e-01 1.13247158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742557844 meters Centerline goodness : 0.173770 with order 1 Centerline is valid? [False, False] Translation: X:-4.95, Y:-0.32, Z:1.13 [[ 0.99982063 -0.00764623 -0.01732774 -4.95472148] [ 0.00750816 0.99993966 -0.00801958 -0.32495876] [ 0.01738801 0.00788804 0.9998177 1.13459961] [ 0. 0. 0. 1. ]] SLAMing on 61.802557844 meters Centerline goodness : 0.085951 with order 2 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.32, Z:1.13 [[ 0.99982866 -0.00741501 -0.0169609 -4.90722788] [ 0.00726699 0.99993512 -0.00877247 -0.32463626] [ 0.01702485 0.00864772 0.99981767 1.13326469] [ 0. 0. 0. 1. ]] SLAMing on 61.862557844 meters Centerline goodness : 0.137458 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.32, Z:1.13 [[ 0.99982386 -0.00769181 -0.01711971 -4.90681214] [ 0.0075413 0.9999325 -0.00883888 -0.32469583] [ 0.01718654 0.00870822 0.99981438 1.13313464] [ 0. 0. 0. 1. ]] SLAMing on 61.922557843999996 meters Centerline goodness : 0.133215 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.32, Z:1.13 [[ 0.99982703 -0.00792373 -0.0168263 -4.90767725] [ 0.00777168 0.99992855 -0.00908274 -0.32365751] [ 0.01689707 0.0089504 0.99981717 1.13327505] [ 0. 0. 0. 1. ]] SLAMing on 61.982557844 meters Centerline goodness : 0.136956 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.32, Z:1.13 [[ 0.99982716 -0.00818046 -0.01669545 -4.90806505] [ 0.00802044 0.99992148 -0.00962891 -0.32063323] [ 0.0167729 0.00949334 0.99981426 1.13330705] [ 0. 0. 0. 1. ]] SLAMing on 62.042557844 meters Centerline goodness : 0.149278 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.32, Z:1.13 [[ 0.99982013 -0.00842233 -0.01699308 -4.90711658] [ 0.0082531 0.99991589 -0.01000466 -0.31870346] [ 0.01707591 0.00986262 0.99980555 1.13301314] [ 0. 0. 0. 1. ]] SLAMing on 62.102557843999996 meters Centerline goodness : 0.139035 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.32, Z:1.13 [[ 9.99829176e-01 -4.89323817e-03 -1.78234572e-02 -4.90508700e+00] [ 4.77678118e-03 9.99967004e-01 -6.57063981e-03 -3.17198115e-01] [ 1.78550208e-02 6.48437863e-03 9.99819559e-01 1.13289234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162557844 meters Centerline goodness : 0.201924 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.31, Z:1.13 [[ 9.99835667e-01 -1.17404711e-03 -1.80903246e-02 -4.90501713e+00] [ 1.10939231e-03 9.99992963e-01 -3.58361973e-03 -3.12892270e-01] [ 1.80944046e-02 3.56296156e-03 9.99829934e-01 1.13381498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222557844 meters Centerline goodness : 0.126277 with order 2 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.31, Z:1.13 [[ 9.99817003e-01 9.07959175e-03 -1.68380728e-02 -4.88391004e+00] [-9.14929981e-03 9.99949872e-01 -4.06750275e-03 -3.12225315e-01] [ 1.68002975e-02 4.22081499e-03 9.99849956e-01 1.13381131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282557844 meters Centerline goodness : 0.129687 with order 3 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.31, Z:1.13 [[ 9.99772033e-01 1.30686311e-02 -1.68847038e-02 -4.88401448e+00] [-1.30828347e-02 9.99914149e-01 -7.31019579e-04 -3.08695841e-01] [ 1.68737008e-02 9.51752720e-04 9.99857176e-01 1.13447405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342557844 meters Centerline goodness : 0.165622 with order 3 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.31, Z:1.13 [[ 9.99765091e-01 1.33788704e-02 -1.70519197e-02 -4.88371354e+00] [-1.34019987e-02 9.99909417e-01 -1.24278531e-03 -3.05124205e-01] [ 1.70337480e-02 1.47102318e-03 9.99853833e-01 1.13473852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402557844 meters Centerline goodness : 0.229176 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.29, Z:1.13 [[ 9.99845205e-01 8.68021430e-03 -1.53042572e-02 -4.90560985e+00] [-8.65083151e-03 9.99960611e-01 1.98506774e-03 -2.92879694e-01] [ 1.53208852e-02 -1.85236591e-03 9.99880913e-01 1.13425762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462557844 meters Centerline goodness : 0.230881 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.29, Z:1.13 [[ 9.99850527e-01 8.57710592e-03 -1.50119069e-02 -4.90640547e+00] [-8.55500059e-03 9.99962225e-01 1.53611889e-03 -2.90318759e-01] [ 1.50245153e-02 -1.40746241e-03 9.99886135e-01 1.13443713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522557844 meters Centerline goodness : 0.133868 with order 2 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.29, Z:1.14 [[ 9.99899007e-01 2.12454391e-04 -1.42102050e-02 -4.88514649e+00] [-1.87732512e-04 9.99998467e-01 1.74103845e-03 -2.87077883e-01] [ 1.42105531e-02 -1.73819490e-03 9.99897514e-01 1.13509791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582557844 meters Centerline goodness : 0.131178 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.29, Z:1.13 [[ 9.99943532e-01 1.44035386e-03 -1.05289374e-02 -4.84393114e+00] [-1.41728585e-03 9.99996580e-01 2.19804906e-03 -2.85718445e-01] [ 1.05320674e-02 -2.18300243e-03 9.99942153e-01 1.13496324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642557844 meters Centerline goodness : 0.133093 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.29, Z:1.14 [[ 9.99944225e-01 1.36130711e-03 -1.04734861e-02 -4.84458146e+00] [-1.33939600e-03 9.99996901e-01 2.09878475e-03 -2.85801339e-01] [ 1.04763108e-02 -2.08463955e-03 9.99942949e-01 1.13583391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702557844 meters Centerline goodness : 0.132626 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.28, Z:1.14 [[ 9.99946503e-01 1.71688589e-03 -1.02001701e-02 -4.84492885e+00] [-1.69602831e-03 9.99996454e-01 2.05312451e-03 -2.84382682e-01] [ 1.02036590e-02 -2.03571490e-03 9.99945869e-01 1.13532821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762557844 meters Centerline goodness : 0.131868 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.28, Z:1.14 [[ 9.99947284e-01 1.81053783e-03 -1.01069471e-02 -4.84498329e+00] [-1.79482947e-03 9.99997168e-01 1.56306786e-03 -2.81672923e-01] [ 1.01097485e-02 -1.54484521e-03 9.99947702e-01 1.13502473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822557844 meters Centerline goodness : 0.126284 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.28, Z:1.13 [[ 9.99942371e-01 2.22928130e-03 -1.05016945e-02 -4.84371501e+00] [-2.21485855e-03 9.99996588e-01 1.38480412e-03 -2.79008392e-01] [ 1.05047458e-02 -1.36146455e-03 9.99943897e-01 1.13441184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882557844 meters Centerline goodness : 0.137092 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.28, Z:1.13 [[ 9.99938973e-01 2.54756510e-03 -1.07499387e-02 -4.84283729e+00] [-2.53323416e-03 9.99995885e-01 1.34652426e-03 -2.77997628e-01] [ 1.07533248e-02 -1.31920997e-03 9.99941311e-01 1.13399656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942557844 meters Centerline goodness : 0.127452 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.28, Z:1.13 [[ 9.99939065e-01 2.71130798e-03 -1.07011925e-02 -4.84311504e+00] [-2.69630651e-03 9.99995362e-01 1.41602875e-03 -2.77995964e-01] [ 1.07049821e-02 -1.38708877e-03 9.99941738e-01 1.13441075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002557844 meters Centerline goodness : 0.371572 with order 1 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.28, Z:1.14 [[ 9.99944886e-01 2.75068030e-03 -1.01320260e-02 -4.84515346e+00] [-2.73742284e-03 9.99995379e-01 1.32210724e-03 -2.77730915e-01] [ 1.01356158e-02 -1.29429873e-03 9.99947796e-01 1.13564018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062557844 meters Centerline goodness : 0.172619 with order 1 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.28, Z:1.13 [[ 9.99940270e-01 3.06524890e-03 -1.04910089e-02 -4.84307588e+00] [-3.04692794e-03 9.99993806e-01 1.76188658e-03 -2.78972543e-01] [ 1.04963445e-02 -1.72981599e-03 9.99943416e-01 1.13387179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122557844 meters Centerline goodness : 0.153677 with order 1 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.28, Z:1.13 [[ 9.99914413e-01 4.38708569e-03 -1.23256116e-02 -4.83704570e+00] [-4.35259289e-03 9.99986540e-01 2.82389862e-03 -2.81296918e-01] [ 1.23378343e-02 -2.77000856e-03 9.99920049e-01 1.13208799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182557844 meters Centerline goodness : 0.332173 with order 1 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.28, Z:1.13 [[ 9.99868761e-01 3.93902257e-03 -1.57144544e-02 -4.86987581e+00] [-3.90535530e-03 9.99990014e-01 2.17255183e-03 -2.83737011e-01] [ 1.57228552e-02 -2.11089618e-03 9.99874160e-01 1.12927744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242557844 meters Centerline goodness : 0.336672 with order 1 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.28, Z:1.13 [[ 9.99869375e-01 4.16156248e-03 -1.56177255e-02 -4.86985340e+00] [-4.12173564e-03 9.99988174e-01 2.58142785e-03 -2.84954874e-01] [ 1.56282836e-02 -2.51671851e-03 9.99874704e-01 1.12885408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302557844 meters Centerline goodness : 0.139375 with order 3 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.29, Z:1.13 [[ 9.99901883e-01 3.82046643e-03 -1.34769760e-02 -4.83409056e+00] [-3.78639719e-03 9.99989574e-01 2.55256929e-03 -2.86673119e-01] [ 1.34865875e-02 -2.50128965e-03 9.99905923e-01 1.13145651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362557844 meters Centerline goodness : 0.138491 with order 2 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.29, Z:1.13 [[ 9.99938983e-01 1.01171816e-03 -1.10003369e-02 -4.87865791e+00] [-9.88440838e-04 9.99997262e-01 2.12128602e-03 -2.94026244e-01] [ 1.10024529e-02 -2.11028340e-03 9.99937244e-01 1.13079003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422557843999996 meters Centerline goodness : 0.127884 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.30, Z:1.13 [[ 9.99971127e-01 5.95299574e-04 -7.57567901e-03 -4.84219281e+00] [-5.92897317e-04 9.99999773e-01 3.19343084e-04 -2.95428218e-01] [ 7.57586740e-03 -3.14842264e-04 9.99971253e-01 1.13359940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482557844 meters Centerline goodness : 0.127781 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.29, Z:1.13 [[ 9.99968386e-01 5.83652417e-04 -7.93010025e-03 -4.84098202e+00] [-5.82073901e-04 9.99999810e-01 2.01360257e-04 -2.94779370e-01] [ 7.93021627e-03 -1.96737987e-04 9.99968536e-01 1.13302736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542557844 meters Centerline goodness : 0.127769 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.29, Z:1.13 [[ 9.99963200e-01 6.31623616e-04 -8.55564085e-03 -4.83848236e+00] [-6.31852977e-04 9.99999800e-01 -2.41051733e-05 -2.93148551e-01] [ 8.55562391e-03 2.95101934e-05 9.99963400e-01 1.13138602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602557843999996 meters SLAMing on 63.662557844 meters Centerline goodness : 0.343117 with order 1 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.30, Z:1.13 [[ 9.99940327e-01 -3.85181676e-04 -1.09175759e-02 -4.88444270e+00] [ 3.89290517e-04 9.99999854e-01 3.74228471e-04 -2.96253986e-01] [ 1.09174302e-02 -3.78456248e-04 9.99940331e-01 1.13284350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722557844 meters Centerline goodness : 0.103297 with order 3 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.30, Z:1.13 [[ 9.99944251e-01 -3.07784465e-04 -1.05545824e-02 -4.88563565e+00] [ 3.13649559e-04 9.99999797e-01 5.54040927e-04 -2.97093153e-01] [ 1.05544098e-02 -5.57320480e-04 9.99944145e-01 1.13333550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782557844 meters Centerline goodness : 0.219345 with order 3 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.30, Z:1.13 [[ 9.99944416e-01 -1.87660625e-04 -1.05418132e-02 -4.88533656e+00] [ 1.95055168e-04 9.99999736e-01 7.00425088e-04 -2.97519090e-01] [ 1.05416790e-02 -7.02442391e-04 9.99944188e-01 1.13278115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842557844 meters Centerline goodness : 0.348398 with order 1 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.30, Z:1.13 [[ 9.99938774e-01 -2.39612628e-04 -1.10630030e-02 -4.88316169e+00] [ 2.46428838e-04 9.99999781e-01 6.14767493e-04 -2.97564835e-01] [ 1.10628532e-02 -6.17456096e-04 9.99938614e-01 1.13126845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902557844 meters Centerline goodness : 0.133149 with order 3 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.30, Z:1.13 [[ 9.99939177e-01 -1.30449274e-04 -1.10284175e-02 -4.88319911e+00] [ 1.39476347e-04 9.99999656e-01 8.17763304e-04 -2.98455490e-01] [ 1.10283070e-02 -8.19251768e-04 9.99938851e-01 1.13117922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962557844 meters Centerline goodness : 0.342514 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.30, Z:1.13 [[ 9.99955695e-01 1.18997813e-03 -9.33761302e-03 -4.88942189e+00] [-1.16674237e-03 9.99996211e-01 2.49345697e-03 -3.02756231e-01] [ 9.34054480e-03 -2.48245191e-03 9.99953295e-01 1.13411003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02255784399999 meters Centerline goodness : 0.342416 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.31, Z:1.13 [[ 9.99953673e-01 1.38885921e-03 -9.52484564e-03 -4.88862847e+00] [-1.36029503e-03 9.99994561e-01 3.00473547e-03 -3.05611716e-01] [ 9.52896698e-03 -2.99163967e-03 9.99950123e-01 1.13361082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082557844 meters SLAMing on 64.142557844 meters Centerline goodness : 0.351267 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.31, Z:1.13 [[ 9.99955641e-01 1.74975511e-03 -9.25500230e-03 -4.88921396e+00] [-1.71670385e-03 9.99992126e-01 3.57791801e-03 -3.08364684e-01] [ 9.26118990e-03 -3.56187119e-03 9.99950771e-01 1.13352450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202557844 meters Centerline goodness : 0.350412 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.31, Z:1.13 [[ 9.99955566e-01 2.00907120e-03 -9.21034844e-03 -4.88982266e+00] [-1.96968839e-03 9.99988888e-01 4.28300923e-03 -3.11912082e-01] [ 9.21885097e-03 -4.26467740e-03 9.99948411e-01 1.13438456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26255784399999 meters Centerline goodness : 0.257018 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.32, Z:1.14 [[ 9.99952848e-01 2.02608352e-03 -9.49721384e-03 -4.88958331e+00] [-1.98027160e-03 9.99986372e-01 4.83064586e-03 -3.15514366e-01] [ 9.50687170e-03 -4.81161103e-03 9.99943232e-01 1.13523067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32255784399999 meters Centerline goodness : 0.085411 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.32, Z:1.14 [[ 9.99954725e-01 2.19261636e-03 -9.25966092e-03 -4.88996697e+00] [-2.13879969e-03 9.99980789e-01 5.81785674e-03 -3.20487610e-01] [ 9.27223936e-03 -5.79778877e-03 9.99940204e-01 1.13501457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38255784399999 meters Centerline goodness : 0.183293 with order 2 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.33, Z:1.13 [[ 9.99954040e-01 -1.41011300e-03 -9.48311600e-03 -4.88840852e+00] [ 1.44024653e-03 9.99993934e-01 3.17151999e-03 -3.25836897e-01] [ 9.47858627e-03 -3.18503226e-03 9.99950005e-01 1.13327109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44255784399999 meters Centerline goodness : 0.186301 with order 2 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.33, Z:1.13 [[ 9.99950822e-01 -1.13729065e-03 -9.85188132e-03 -4.88718360e+00] [ 1.17882513e-03 9.99990438e-01 4.21111285e-03 -3.31177659e-01] [ 9.84699786e-03 -4.22251940e-03 9.99942602e-01 1.13292098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502557844 meters Centerline goodness : 0.128609 with order 3 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.33, Z:1.13 [[ 9.99938811e-01 -6.71002591e-04 -1.10419106e-02 -4.88284614e+00] [ 7.20689261e-04 9.99989631e-01 4.49646182e-03 -3.31977008e-01] [ 1.10387790e-02 -4.50414447e-03 9.99928926e-01 1.13115141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562557844 meters Centerline goodness : 0.134965 with order 3 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.33, Z:1.13 [[ 9.99935978e-01 -6.99131165e-04 -1.12938522e-02 -4.88177058e+00] [ 7.47524037e-04 9.99990556e-01 4.28123330e-03 -3.30853510e-01] [ 1.12907524e-02 -4.28940163e-03 9.99927057e-01 1.13038644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.622557844 meters Centerline goodness : 0.283040 with order 1 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.33, Z:1.13 [[ 9.99933090e-01 -5.52417807e-04 -1.15546408e-02 -4.88139072e+00] [ 6.07795499e-04 9.99988345e-01 4.78971729e-03 -3.33389283e-01] [ 1.15518602e-02 -4.79641967e-03 9.99921771e-01 1.13088087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68255784399999 meters Centerline goodness : 0.084577 with order 1 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.33, Z:1.13 [[ 9.99933560e-01 -6.06841249e-04 -1.15112113e-02 -4.88149525e+00] [ 6.64017227e-04 9.99987460e-01 4.96381038e-03 -3.34476160e-01] [ 1.15080547e-02 -4.97112423e-03 9.99921423e-01 1.13087458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74255784399999 meters Centerline goodness : 0.339048 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.34, Z:1.13 [[ 9.99906809e-01 -1.41973101e-03 -1.35778551e-02 -4.92619886e+00] [ 1.48924263e-03 9.99985831e-01 5.11074470e-03 -3.37424061e-01] [ 1.35704069e-02 -5.13048914e-03 9.99894756e-01 1.13286123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80255784399999 meters Centerline goodness : 0.187607 with order 2 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.34, Z:1.13 [[ 9.99904427e-01 -1.57456409e-03 -1.37352845e-02 -4.92579771e+00] [ 1.64372643e-03 9.99986021e-01 5.02554220e-03 -3.37815300e-01] [ 1.37271794e-02 -5.04763895e-03 9.99893037e-01 1.13275373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862557844 meters Centerline goodness : 0.161824 with order 3 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.34, Z:1.13 [[ 9.99849612e-01 5.44668253e-03 -1.64647289e-02 -4.90177631e+00] [-5.38738220e-03 9.99978849e-01 3.64387003e-03 -3.42064539e-01] [ 1.64842276e-02 -3.55462024e-03 9.99857807e-01 1.13181918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922557844 meters Centerline goodness : 0.151883 with order 3 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.34, Z:1.13 [[ 9.99851648e-01 5.40069967e-03 -1.63558845e-02 -4.90252698e+00] [-5.34468120e-03 9.99979708e-01 3.46675097e-03 -3.41576415e-01] [ 1.63742755e-02 -3.37881968e-03 9.99860224e-01 1.13271205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.982557844 meters Centerline goodness : 0.188217 with order 2 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.34, Z:1.14 [[ 9.99882848e-01 5.15330550e-03 -1.44129814e-02 -4.90935884e+00] [-5.11133672e-03 9.99982594e-01 2.94719615e-03 -3.39578160e-01] [ 1.44279184e-02 -2.87318128e-03 9.99891784e-01 1.13584010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04255784399999 meters Centerline goodness : 0.128180 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.34, Z:1.14 [[ 0.99986499 0.00876787 -0.0138971 -4.9104621 ] [-0.00868594 0.99994461 0.00594458 -0.33566621] [ 0.01394845 -0.00582306 0.99988576 1.13594397] [ 0. 0. 0. 1. ]] SLAMing on 65.10255784399999 meters Centerline goodness : 0.130651 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.33, Z:1.14 [[ 0.99984465 0.00904361 -0.01512935 -4.90696339] [-0.00896497 0.99994599 0.00525774 -0.3324937 ] [ 0.01517608 -0.00512129 0.99987172 1.1358031 ] [ 0. 0. 0. 1. ]] SLAMing on 65.16255784399999 meters Centerline goodness : 0.131380 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.33, Z:1.14 [[ 9.99843058e-01 8.83015216e-03 -1.53586334e-02 -4.90707284e+00] [-8.76635124e-03 9.99952685e-01 4.21645086e-03 -3.28045524e-01] [ 1.53951386e-02 -4.08114995e-03 9.99873159e-01 1.13700429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222557844 meters Centerline goodness : 0.127905 with order 3 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.32, Z:1.14 [[ 9.99898745e-01 -2.54698862e-04 -1.42279405e-02 -4.92833989e+00] [ 3.25862108e-04 9.99987449e-01 4.99956036e-03 -3.21961477e-01] [ 1.42264886e-02 -5.00369048e-03 9.99886279e-01 1.13583219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282557844 meters Centerline goodness : 0.180687 with order 2 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.32, Z:1.14 [[ 9.99890986e-01 -7.65208706e-04 -1.47455562e-02 -4.92684409e+00] [ 8.39099940e-04 9.99987120e-01 5.00554977e-03 -3.23782187e-01] [ 1.47415360e-02 -5.01737709e-03 9.99878749e-01 1.13572895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342557844 meters Centerline goodness : 0.193668 with order 2 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.33, Z:1.14 [[ 9.99868531e-01 -1.09431326e-02 -1.19652742e-02 -4.90667262e+00] [ 1.09947402e-02 9.99930499e-01 4.25587165e-03 -3.25345762e-01] [ 1.19178701e-02 -4.38686722e-03 9.99919357e-01 1.13612351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40255784399999 meters Centerline goodness : 0.131470 with order 3 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.34, Z:1.13 [[ 9.99936449e-01 -4.30990000e-03 -1.04174138e-02 -4.92329869e+00] [ 4.34542111e-03 9.99984814e-01 3.38955639e-03 -3.38073794e-01] [ 1.04026469e-02 -3.43460903e-03 9.99939992e-01 1.13365658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46255784399999 meters Centerline goodness : 0.085568 with order 1 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.35, Z:1.13 [[ 9.99892204e-01 -7.03464559e-03 -1.28877858e-02 -4.91560172e+00] [ 7.05744856e-03 9.99973609e-01 1.72472206e-03 -3.45789616e-01] [ 1.28753128e-02 -1.81549103e-03 9.99915462e-01 1.13093930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52255784399999 meters Centerline goodness : 0.135172 with order 3 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.35, Z:1.13 [[ 9.99907642e-01 2.35868805e-03 -1.33844419e-02 -4.93120555e+00] [-2.35171664e-03 9.99997091e-01 5.36574497e-04 -3.53917910e-01] [ 1.33856685e-02 -5.05048525e-04 9.99910280e-01 1.13017109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582557844 meters Centerline goodness : 0.187970 with order 2 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.35, Z:1.13 [[ 9.99935603e-01 4.60355988e-03 -1.03729169e-02 -4.89022281e+00] [-4.59568744e-03 9.99989133e-01 7.82649781e-04 -3.54418657e-01] [ 1.03764072e-02 -7.34928697e-04 9.99945894e-01 1.13102809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642557844 meters Centerline goodness : 0.166315 with order 2 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.36, Z:1.13 [[ 9.99932857e-01 5.58529400e-03 -1.01531116e-02 -4.89087715e+00] [-5.57051591e-03 9.99983385e-01 1.48322034e-03 -3.55105504e-01] [ 1.01612272e-02 -1.42656268e-03 9.99947356e-01 1.13114417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702557844 meters Centerline goodness : 0.348005 with order 1 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.35, Z:1.13 [[ 9.99928899e-01 5.79312757e-03 -1.04228871e-02 -4.88972837e+00] [-5.77857662e-03 9.99982288e-01 1.42563141e-03 -3.54745026e-01] [ 1.04309614e-02 -1.36530059e-03 9.99944664e-01 1.13038131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76255784399999 meters Centerline goodness : 0.205882 with order 3 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.35, Z:1.13 [[ 9.99926355e-01 9.05377739e-03 -8.08171574e-03 -4.84513120e+00] [-9.04119640e-03 9.99957860e-01 1.59190390e-03 -3.46779788e-01] [ 8.09578793e-03 -1.51871829e-03 9.99966075e-01 1.12953110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82255784399999 meters Centerline goodness : 0.131086 with order 3 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.35, Z:1.13 [[ 9.99938225e-01 8.80749409e-03 -6.78048939e-03 -4.88644688e+00] [-8.79674978e-03 9.99960007e-01 1.61278823e-03 -3.47829546e-01] [ 6.79442284e-03 -1.55304233e-03 9.99975712e-01 1.12995138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88255784399999 meters Centerline goodness : 0.144574 with order 2 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.34, Z:1.13 [[ 9.99979464e-01 1.27777344e-03 -6.27998450e-03 -4.86659749e+00] [-1.26299765e-03 9.99996426e-01 2.35624260e-03 -3.42831982e-01] [ 6.28297280e-03 -2.34826260e-03 9.99977505e-01 1.13113594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94255784399999 meters Centerline goodness : 0.129344 with order 3 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.34, Z:1.13 [[ 9.99980693e-01 1.27807370e-03 -6.08118140e-03 -4.86717054e+00] [-1.26243154e-03 9.99995887e-01 2.57536682e-03 -3.43961827e-01] [ 6.08444790e-03 -2.56764002e-03 9.99978193e-01 1.13127331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002557844 meters Centerline goodness : 0.176059 with order 3 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.35, Z:1.13 [[ 9.99981800e-01 1.29422245e-03 -5.89272771e-03 -4.86783054e+00] [-1.27736142e-03 9.99995082e-01 2.86419335e-03 -3.45703206e-01] [ 5.89640564e-03 -2.85661408e-03 9.99978536e-01 1.13167552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062557844 meters Centerline goodness : 0.084567 with order 1 Centerline is valid? [False, False] Translation: X:-4.83, Y:-0.34, Z:1.13 [[ 9.99974919e-01 2.24470691e-03 -6.71729681e-03 -4.82619679e+00] [-2.22844320e-03 9.99994570e-01 2.42767469e-03 -3.41725811e-01] [ 6.72270975e-03 -2.41264469e-03 9.99974492e-01 1.13145577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.122557844 meters Centerline goodness : 0.131296 with order 2 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.34, Z:1.13 [[ 9.99946541e-01 1.14311666e-03 -1.02766390e-02 -4.87080795e+00] [-1.11191507e-03 9.99994757e-01 3.04136840e-03 -3.42692256e-01] [ 1.02800618e-02 -3.02977906e-03 9.99942569e-01 1.13298245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18255784399999 meters Centerline goodness : 0.128652 with order 3 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.34, Z:1.13 [[ 9.99942918e-01 1.65262596e-03 -1.05560609e-02 -4.86926746e+00] [-1.61828833e-03 9.99993375e-01 3.26059716e-03 -3.41978730e-01] [ 1.05613795e-02 -3.24332828e-03 9.99938967e-01 1.13184166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24255784399999 meters Centerline goodness : 0.218169 with order 3 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.34, Z:1.13 [[ 9.99926512e-01 8.26395801e-04 -1.20949453e-02 -4.86282778e+00] [-8.05522711e-04 9.99998178e-01 1.73053951e-03 -3.37232525e-01] [ 1.20963533e-02 -1.72066959e-03 9.99925356e-01 1.12793848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30255784399999 meters Centerline goodness : 0.093125 with order 1 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.34, Z:1.13 [[ 9.99919626e-01 8.51581748e-04 -1.26497850e-02 -4.86085555e+00] [-8.32972705e-04 9.99998563e-01 1.47629148e-03 -3.35806567e-01] [ 1.26510240e-02 -1.46563590e-03 9.99918898e-01 1.12696379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362557844 meters Centerline goodness : 0.214957 with order 3 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.34, Z:1.13 [[ 9.99929392e-01 1.16782128e-03 -1.18256809e-02 -4.86485359e+00] [-1.14657130e-03 9.99997716e-01 1.80355580e-03 -3.35434082e-01] [ 1.18277601e-02 -1.78986947e-03 9.99928448e-01 1.12983780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422557844 meters Centerline goodness : 0.157990 with order 1 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.33, Z:1.13 [[ 9.99958048e-01 2.04736926e-03 -8.92809059e-03 -4.82096487e+00] [-2.03698916e-03 9.99997239e-01 1.17157240e-03 -3.33587197e-01] [ 8.93046458e-03 -1.15333683e-03 9.99959457e-01 1.12861075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.482557844 meters Centerline goodness : 0.084440 with order 1 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.34, Z:1.13 [[ 9.99967564e-01 -1.24614710e-04 -8.05324754e-03 -4.82375924e+00] [ 1.20348229e-04 9.99999852e-01 -5.30266347e-04 -3.38042617e-01] [ 8.05331243e-03 5.29279953e-04 9.99967431e-01 1.12896799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54255784399999 meters Centerline goodness : 0.161384 with order 3 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.34, Z:1.13 [[ 9.99969301e-01 8.66282986e-05 -7.83514101e-03 -4.82422216e+00] [-9.31495468e-05 9.99999650e-01 -8.31946600e-04 -3.35542605e-01] [ 7.83506619e-03 8.32650900e-04 9.99968959e-01 1.12868855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60255784399999 meters Centerline goodness : 0.148524 with order 3 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.33, Z:1.13 [[ 9.99964680e-01 8.44280079e-04 -8.36220317e-03 -4.82224349e+00] [-8.51472548e-04 9.99999271e-01 -8.56593648e-04 -3.32011049e-01] [ 8.36147387e-03 8.63683580e-04 9.99964669e-01 1.12740332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66255784399999 meters Centerline goodness : 0.226931 with order 1 Centerline is valid? [False, False] Translation: X:-4.82, Y:-0.33, Z:1.13 [[ 9.99962305e-01 4.73382806e-04 -8.66969156e-03 -4.82124090e+00] [-4.90075611e-04 9.99998030e-01 -1.92339761e-03 -3.26978256e-01] [ 8.66876398e-03 1.92757392e-03 9.99960568e-01 1.12686993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722557844 meters Centerline goodness : 0.192784 with order 2 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.33, Z:1.13 [[ 9.99986272e-01 -2.95209714e-03 -4.32899896e-03 -4.86603779e+00] [ 2.94445468e-03 9.99994097e-01 -1.77072160e-03 -3.28181056e-01] [ 4.33420075e-03 1.75795075e-03 9.99989062e-01 1.12660395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782557844 meters Centerline goodness : 0.096165 with order 1 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.33, Z:1.13 [[ 9.99982120e-01 -5.43666135e-03 -2.49055138e-03 -4.87418249e+00] [ 5.42698160e-03 9.99977758e-01 -3.87699601e-03 -3.30311579e-01] [ 2.51157390e-03 3.86341051e-03 9.99989383e-01 1.13123717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842557844 meters Centerline goodness : 0.089253 with order 2 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.33, Z:1.13 [[ 9.99983496e-01 -5.46421180e-03 -1.77494361e-03 -4.87621893e+00] [ 5.45880338e-03 9.99980486e-01 -3.03778221e-03 -3.33003280e-01] [ 1.79150806e-03 3.02804300e-03 9.99993811e-01 1.13088359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90255784399999 meters Centerline goodness : 0.224625 with order 3 Centerline is valid? [False, False] Translation: X:-4.87, Y:-0.34, Z:1.13 [[ 9.99958759e-01 -8.80271988e-03 -2.23424583e-03 -4.87443747e+00] [ 8.79083865e-03 9.99947457e-01 -5.27302785e-03 -3.39160835e-01] [ 2.28054542e-03 5.25316949e-03 9.99983602e-01 1.12937559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96255784399999 meters Centerline goodness : 0.239078 with order 1 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.34, Z:1.13 [[ 9.99951725e-01 -9.28641934e-03 -3.21099011e-03 -4.83534962e+00] [ 9.27060445e-03 9.99944994e-01 -4.90553361e-03 -3.39697169e-01] [ 3.25636833e-03 4.87552897e-03 9.99982812e-01 1.12882850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02255784399999 meters Centerline goodness : 0.131326 with order 3 Centerline is valid? [False, False] Translation: X:-4.85, Y:-0.35, Z:1.13 [[ 9.99984530e-01 2.62206912e-03 -4.90563676e-03 -4.85095763e+00] [-2.64226946e-03 9.99988039e-01 -4.11584094e-03 -3.46246223e-01] [ 4.89478606e-03 4.12873928e-03 9.99979497e-01 1.12833801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082557844 meters Centerline goodness : 0.145069 with order 3 Centerline is valid? [False, False] Translation: X:-4.80, Y:-0.34, Z:1.13 [[ 0.99995729 0.00742069 -0.00550941 -4.79515617] [-0.00745282 0.99995521 -0.00583455 -0.33837536] [ 0.00546586 0.00587536 0.9999678 1.12635564] [ 0. 0. 0. 1. ]] SLAMing on 67.142557844 meters Centerline goodness : 0.145288 with order 3 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.33, Z:1.13 [[ 9.99950301e-01 2.35861551e-03 -9.68672472e-03 -4.81202622e+00] [-2.37834682e-03 9.99995120e-01 -2.02592912e-03 -3.29271055e-01] [ 9.68189905e-03 2.04886683e-03 9.99951030e-01 1.12641249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202557844 meters Centerline goodness : 0.116684 with order 1 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.33, Z:1.13 [[ 9.99949564e-01 2.18408518e-03 -9.80297792e-03 -4.81156911e+00] [-2.20763704e-03 9.99994702e-01 -2.39234334e-03 -3.27872550e-01] [ 9.79770089e-03 2.41386410e-03 9.99949088e-01 1.12605339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26255784399999 meters Centerline goodness : 0.132061 with order 3 Centerline is valid? [False, False] Translation: X:-4.81, Y:-0.33, Z:1.13 [[ 9.99948856e-01 2.06507689e-03 -9.90056028e-03 -4.81091847e+00] [-2.09097489e-03 9.99994418e-01 -2.60617448e-03 -3.26684509e-01] [ 9.89512307e-03 2.62674301e-03 9.99947592e-01 1.12528849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32255784399999 meters Centerline goodness : 0.086184 with order 1 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.33, Z:1.13 [[ 9.99924529e-01 -8.83360833e-04 -1.22538019e-02 -4.85847463e+00] [ 8.43701555e-04 9.99994391e-01 -3.24127966e-03 -3.26877086e-01] [ 1.22565964e-02 3.23069649e-03 9.99919666e-01 1.12810392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38255784399999 meters Centerline goodness : 0.162634 with order 3 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.33, Z:1.13 [[ 9.99927242e-01 -9.72132851e-04 -1.20235298e-02 -4.85943856e+00] [ 9.29944854e-04 9.99993394e-01 -3.51387961e-03 -3.25158724e-01] [ 1.20268663e-02 3.50244273e-03 9.99921541e-01 1.12868749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44255784399999 meters Centerline goodness : 0.156680 with order 1 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.32, Z:1.13 [[ 9.99928348e-01 -9.72529343e-04 -1.19311989e-02 -4.85985901e+00] [ 9.30218478e-04 9.99993262e-01 -3.55127458e-03 -3.24757573e-01] [ 1.19345723e-02 3.53992150e-03 9.99922514e-01 1.12895925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502557844 meters Centerline goodness : 0.095670 with order 1 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.33, Z:1.13 [[ 9.99926902e-01 -9.68988287e-04 -1.20520011e-02 -4.85966413e+00] [ 9.27071243e-04 9.99993504e-01 -3.48311590e-03 -3.25045891e-01] [ 1.20552979e-02 3.47168823e-03 9.99921305e-01 1.12915026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562557844 meters Centerline goodness : 0.160656 with order 3 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.33, Z:1.13 [[ 9.99929366e-01 5.83909835e-03 -1.03522172e-02 -4.87981376e+00] [-5.88207363e-03 9.99974189e-01 -4.12573518e-03 -3.31220725e-01] [ 1.03278595e-02 4.18633626e-03 9.99937903e-01 1.12749845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.622557844 meters Centerline goodness : 0.344935 with order 1 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.33, Z:1.13 [[ 9.99936965e-01 5.55154740e-03 -9.75938639e-03 -4.88226660e+00] [-5.59671072e-03 9.99973728e-01 -4.60647559e-03 -3.29726549e-01] [ 9.73355693e-03 4.66080568e-03 9.99941766e-01 1.12905885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68255784399999 meters Centerline goodness : 0.139317 with order 3 Centerline is valid? [False, False] Translation: X:-4.88, Y:-0.33, Z:1.13 [[ 0.99993839 0.00558011 -0.00959534 -4.88264464] [-0.00562872 0.99997142 -0.005047 -0.32726967] [ 0.0095669 0.0051007 0.99994123 1.1291789 ] [ 0. 0. 0. 1. ]] SLAMing on 67.74255784399999 meters Centerline goodness : 0.182421 with order 3 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.32, Z:1.13 [[ 0.99992197 0.00932817 -0.00830853 -4.83780932] [-0.00936927 0.999944 -0.00492106 -0.31677779] [ 0.00826216 0.00499852 0.99995337 1.12810108] [ 0. 0. 0. 1. ]] SLAMing on 67.80255784399999 meters Centerline goodness : 0.086360 with order 1 Centerline is valid? [False, False] Translation: X:-4.84, Y:-0.31, Z:1.13 [[ 0.99992464 0.00900937 -0.0083392 -4.83803188] [-0.00905686 0.99994288 -0.00567535 -0.31354594] [ 0.0082876 0.00575045 0.99994912 1.12850799] [ 0. 0. 0. 1. ]] SLAMing on 67.862557844 meters Centerline goodness : 0.186493 with order 2 Centerline is valid? [False, False] Translation: X:-4.86, Y:-0.31, Z:1.13 [[ 9.99976724e-01 -5.10748788e-04 -6.80372723e-03 -4.86075338e+00] [ 4.72080331e-04 9.99983736e-01 -5.68381671e-03 -3.07479115e-01] [ 6.80651958e-03 5.68047250e-03 9.99960701e-01 1.12813798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922557844 meters Centerline goodness : 0.127178 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.31, Z:1.13 [[ 9.99950901e-01 -3.16000410e-03 -9.39198282e-03 -4.90635739e+00] [ 3.10428225e-03 9.99977530e-01 -5.94158425e-03 -3.11176808e-01] [ 9.41054721e-03 5.91213716e-03 9.99938242e-01 1.12952095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.982557844 meters Centerline goodness : 0.362332 with order 1 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.31, Z:1.13 [[ 9.99945315e-01 -3.02001404e-03 -1.00123242e-02 -4.90406543e+00] [ 2.96476522e-03 9.99980324e-01 -5.52833960e-03 -3.12235069e-01] [ 1.00288229e-02 5.49835310e-03 9.99934593e-01 1.12788120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04255784399999 meters Centerline goodness : 0.087182 with order 1 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.31, Z:1.13 [[ 9.99937245e-01 -3.12223384e-03 -1.07590948e-02 -4.90183234e+00] [ 3.06396976e-03 9.99980577e-01 -5.42756814e-03 -3.13321112e-01] [ 1.07758320e-02 5.39426199e-03 9.99927389e-01 1.12722350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10255784399999 meters Centerline goodness : 0.156617 with order 1 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.31, Z:1.13 [[ 9.99938273e-01 -2.98577865e-03 -1.07021556e-02 -4.90205773e+00] [ 2.93154881e-03 9.99982803e-01 -5.07929854e-03 -3.14762831e-01] [ 1.07171372e-02 5.04761112e-03 9.99929830e-01 1.12732288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16255784399999 meters Centerline goodness : 0.147229 with order 3 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.32, Z:1.13 [[ 9.99927252e-01 -3.25228574e-03 -1.16152556e-02 -4.89966754e+00] [ 3.19859661e-03 9.99984129e-01 -4.63788404e-03 -3.19111986e-01] [ 1.16301550e-02 4.60039413e-03 9.99921785e-01 1.12730962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222557844 meters Centerline goodness : 0.341682 with order 1 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.33, Z:1.13 [[ 9.99946709e-01 4.05442672e-03 -9.49423264e-03 -4.91924681e+00] [-4.10173843e-03 9.99979242e-01 -4.96904707e-03 -3.31351979e-01] [ 9.47388892e-03 5.00772513e-03 9.99942582e-01 1.12510624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282557844 meters Centerline goodness : 0.124350 with order 3 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.33, Z:1.13 [[ 9.99947229e-01 -3.47462499e-03 -9.66774574e-03 -4.90048864e+00] [ 3.44462034e-03 9.99989205e-01 -3.11850547e-03 -3.27979694e-01] [ 9.67847701e-03 3.08503919e-03 9.99948403e-01 1.12705193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342557844 meters Centerline goodness : 0.323310 with order 1 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.33, Z:1.13 [[ 9.99923304e-01 4.52959212e-03 -1.15268411e-02 -4.92010662e+00] [-4.57451641e-03 9.99982033e-01 -3.87398616e-03 -3.33049102e-01] [ 1.15090864e-02 3.92641877e-03 9.99926059e-01 1.12593549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40255784399999 meters Centerline goodness : 0.139977 with order 1 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.33, Z:1.13 [[ 9.99937639e-01 4.89987761e-03 -1.00353951e-02 -4.92461042e+00] [-4.93949687e-03 9.99980090e-01 -3.92697944e-03 -3.31567608e-01] [ 1.00159536e-02 3.97630435e-03 9.99941933e-01 1.12750701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46255784399999 meters Centerline goodness : 0.141306 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.33, Z:1.13 [[ 9.99940116e-01 4.70491228e-03 -9.88074655e-03 -4.92592894e+00] [-4.74857685e-03 9.99979044e-01 -4.40035595e-03 -3.30216116e-01] [ 9.85983619e-03 4.44701192e-03 9.99941502e-01 1.12916180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52255784399999 meters Centerline goodness : 0.360424 with order 1 Centerline is valid? [False, False] Translation: X:-4.92, Y:-0.33, Z:1.13 [[ 9.99930631e-01 5.19608328e-03 -1.05704622e-02 -4.92311924e+00] [-5.23653767e-03 9.99979058e-01 -3.80304584e-03 -3.31914916e-01] [ 1.05504799e-02 3.85813465e-03 9.99936899e-01 1.12748887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582557844 meters Centerline goodness : 0.125627 with order 3 Centerline is valid? [False, False] Translation: X:-4.89, Y:-0.33, Z:1.13 [[ 9.99958911e-01 4.62944493e-03 -7.79385170e-03 -4.88853094e+00] [-4.65562445e-03 9.99983571e-01 -3.34421106e-03 -3.33043079e-01] [ 7.77824181e-03 3.38035890e-03 9.99964035e-01 1.12881289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642557844 meters Centerline goodness : 0.145464 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.33, Z:1.13 [[ 9.99955736e-01 -5.33286536e-03 -7.75159581e-03 -4.91194863e+00] [ 5.31616259e-03 9.99983506e-01 -2.17376335e-03 -3.34943322e-01] [ 7.76306035e-03 2.13245839e-03 9.99967593e-01 1.12945423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702557844 meters Centerline goodness : 0.179251 with order 2 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.34, Z:1.13 [[ 9.99957518e-01 -5.17553534e-03 -7.62726501e-03 -4.91218144e+00] [ 5.16188884e-03 9.99985043e-01 -1.80777437e-03 -3.36650374e-01] [ 7.63650713e-03 1.76832648e-03 9.99969278e-01 1.12936091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76255784399999 meters Centerline goodness : 0.190473 with order 3 Centerline is valid? [False, False] Translation: X:-4.91, Y:-0.34, Z:1.13 [[ 9.99953963e-01 -5.23399336e-03 -8.04221239e-03 -4.91101961e+00] [ 5.21558555e-03 9.99983735e-01 -2.30816946e-03 -3.35606611e-01] [ 8.05416252e-03 2.26611835e-03 9.99964997e-01 1.12973810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82255784399999 meters Centerline goodness : 0.130485 with order 3 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.33, Z:1.13 [[ 9.99941100e-01 -3.09708685e-03 -1.04021783e-02 -4.90162549e+00] [ 3.09109252e-03 9.99995047e-01 -5.92284955e-04 -3.33817159e-01] [ 1.04039611e-02 5.60095974e-04 9.99945720e-01 1.12506727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88255784399999 meters Centerline goodness : 0.085858 with order 1 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.33, Z:1.13 [[ 9.99939165e-01 7.93819870e-04 -1.10016757e-02 -4.90034284e+00] [-7.62063376e-04 9.99995532e-01 2.89040591e-03 -3.31493030e-01] [ 1.10039210e-02 -2.88184610e-03 9.99935302e-01 1.12524871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94255784399999 meters Centerline goodness : 0.089613 with order 1 Centerline is valid? [False, False] Translation: X:-4.90, Y:-0.33, Z:1.12 [[ 9.99945698e-01 8.12721710e-04 -1.03894735e-02 -4.90171796e+00] [-7.89307999e-04 9.99997140e-01 2.25750115e-03 -3.27463190e-01] [ 1.03912785e-02 -2.24917806e-03 9.99943480e-01 1.12477106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002557844 meters Centerline goodness : 0.087687 with order 1 Centerline is valid? [False, False] Translation: X:-4.95, Y:-0.33, Z:1.13 [[ 9.99900192e-01 -4.46518126e-04 -1.41211123e-02 -4.94642069e+00] [ 4.77613574e-04 9.99997469e-01 2.19875801e-03 -3.25593051e-01] [ 1.41200947e-02 -2.20528300e-03 9.99897875e-01 1.12604716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062557844 meters Centerline goodness : 0.141206 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:-0.32, Z:1.13 [[ 9.99890818e-01 7.79884929e-03 -1.25510601e-02 -4.92691630e+00] [-7.79814449e-03 9.99969588e-01 1.05093962e-04 -3.20162247e-01] [ 1.25514980e-02 -7.20750725e-06 9.99921227e-01 1.12593872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.122557844 meters Centerline goodness : 0.131115 with order 3 Centerline is valid? [False, False] Translation: X:-4.97, Y:-0.32, Z:1.13 [[ 9.99847358e-01 6.17314281e-03 -1.63448369e-02 -4.97246667e+00] [-6.15978588e-03 9.99980652e-01 8.67413603e-04 -3.19801960e-01] [ 1.63498753e-02 -7.66600503e-04 9.99866038e-01 1.12758259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18255784399999 meters Centerline goodness : 0.146544 with order 1 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.31, Z:1.13 [[ 9.99864992e-01 -2.96782028e-03 -1.61613639e-02 -4.99722842e+00] [ 2.99487892e-03 9.99994154e-01 1.65033434e-03 -3.11538971e-01] [ 1.61563715e-02 -1.69851286e-03 9.99868035e-01 1.12886944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24255784399999 meters Centerline goodness : 0.134140 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.31, Z:1.13 [[ 9.99940931e-01 3.26331709e-03 -1.03674907e-02 -4.97905093e+00] [-3.27174421e-03 9.99994331e-01 -7.95984811e-04 -3.07491432e-01] [ 1.03648343e-02 8.29857571e-04 9.99945939e-01 1.12762787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30255784399999 meters Centerline goodness : 0.142185 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.31, Z:1.13 [[ 9.99949825e-01 2.80790939e-03 -9.61576766e-03 -4.98120079e+00] [-2.81764897e-03 9.99995531e-01 -9.99478480e-04 -3.06921042e-01] [ 9.61291824e-03 1.02652219e-03 9.99953268e-01 1.12758484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362557844 meters Centerline goodness : 0.136766 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.31, Z:1.13 [[ 9.99952519e-01 2.41970239e-03 -9.43950246e-03 -4.98160768e+00] [-2.43120401e-03 9.99996316e-01 -1.20717136e-03 -3.06777817e-01] [ 9.43654669e-03 1.23006340e-03 9.99954718e-01 1.12722665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422557844 meters Centerline goodness : 0.217176 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.31, Z:1.13 [[ 9.99961095e-01 2.01000619e-03 -8.58889101e-03 -4.98460941e+00] [-2.02053232e-03 9.99997218e-01 -1.21705025e-03 -3.07212115e-01] [ 8.58642083e-03 1.23435704e-03 9.99962374e-01 1.12817034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.482557844 meters Centerline goodness : 0.199583 with order 3 Centerline is valid? [False, False] Translation: X:-4.99, Y:-0.31, Z:1.13 [[ 9.99961242e-01 1.92081398e-03 -8.59219448e-03 -4.98514502e+00] [-1.93241236e-03 9.99997233e-01 -1.34177551e-03 -3.07166772e-01] [ 8.58959340e-03 1.35832717e-03 9.99962186e-01 1.12909289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54255784399999 meters Centerline goodness : 0.131658 with order 3 Centerline is valid? [False, False] Translation: X:-4.99, Y:-0.31, Z:1.13 [[ 9.99962759e-01 1.86373149e-03 -8.42661575e-03 -4.98538787e+00] [-1.87702618e-03 9.99997006e-01 -1.57006940e-03 -3.06447958e-01] [ 8.42366433e-03 1.58582791e-03 9.99963263e-01 1.12879828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60255784399999 meters Centerline goodness : 0.127271 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.30, Z:1.13 [[ 9.99960378e-01 2.76435807e-03 -8.46176204e-03 -4.98472866e+00] [-2.77672154e-03 9.99995094e-01 -1.44969984e-03 -3.04281741e-01] [ 8.45771304e-03 1.47313836e-03 9.99963148e-01 1.12825998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66255784399999 meters Centerline goodness : 0.140481 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.30, Z:1.13 [[ 9.99950590e-01 3.05641828e-03 -9.45916052e-03 -4.98151405e+00] [-3.07412366e-03 9.99993549e-01 -1.85779724e-03 -3.01240419e-01] [ 9.45342129e-03 1.88678408e-03 9.99953535e-01 1.12690235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722557844 meters Centerline goodness : 0.126647 with order 3 Centerline is valid? [False, False] Translation: X:-4.98, Y:-0.30, Z:1.13 [[ 9.99945434e-01 3.44123181e-03 -9.86344742e-03 -4.98005612e+00] [-3.46335376e-03 9.99991524e-01 -2.22661820e-03 -2.97768929e-01] [ 9.85570150e-03 2.26065731e-03 9.99948876e-01 1.12587912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782557844 meters Centerline goodness : 0.145470 with order 1 Centerline is valid? [False, False] Translation: X:-5.01, Y:-0.30, Z:1.13 [[ 9.99945515e-01 -4.00136969e-03 -9.64134604e-03 -5.00605990e+00] [ 4.00602773e-03 9.99991868e-01 4.63867887e-04 -2.96597292e-01] [ 9.63941153e-03 -5.02466112e-04 9.99953414e-01 1.12773773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842557844 meters Centerline goodness : 0.140281 with order 3 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.30, Z:1.13 [[ 9.99933673e-01 -4.38080742e-03 -1.06517175e-02 -5.00327997e+00] [ 4.38397545e-03 9.99990353e-01 2.74087975e-04 -2.97161535e-01] [ 1.06504140e-02 -3.20766663e-04 9.99943231e-01 1.12736883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90255784399999 meters Centerline goodness : 0.216108 with order 3 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.30, Z:1.13 [[ 9.99934395e-01 -4.35615925e-03 -1.05938443e-02 -5.00401617e+00] [ 4.36195747e-03 9.99990349e-01 5.24275752e-04 -2.98445520e-01] [ 1.05914582e-02 -5.70451255e-04 9.99943746e-01 1.12840280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96255784399999 meters Centerline goodness : 0.224437 with order 3 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.29, Z:1.13 [[ 9.99928802e-01 -4.56323624e-03 -1.10258072e-02 -5.00213030e+00] [ 4.56070989e-03 9.99989568e-01 -2.54264287e-04 -2.94668765e-01] [ 1.10268524e-02 2.03960676e-04 9.99939182e-01 1.12691812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02255784399999 meters Centerline goodness : 0.124954 with order 3 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.29, Z:1.13 [[ 9.99928327e-01 -4.61510980e-03 -1.10472389e-02 -5.00225948e+00] [ 4.60593247e-03 9.99989026e-01 -8.56033347e-04 -2.90778385e-01] [ 1.10510683e-02 8.05089156e-04 9.99938611e-01 1.12700873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.082557844 meters Centerline goodness : 0.139809 with order 3 Centerline is valid? [False, False] Translation: X:-5.00, Y:-0.29, Z:1.13 [[ 9.99928376e-01 -4.79789632e-03 -1.09646301e-02 -5.00284120e+00] [ 4.78429191e-03 9.99987753e-01 -1.26664721e-03 -2.88759342e-01] [ 1.09705731e-02 1.21409850e-03 9.99939084e-01 1.12748959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142557844 meters Centerline goodness : 0.206060 with order 3 Centerline is valid? [False, False] Translation: X:-5.01, Y:-0.29, Z:1.13 [[ 9.99934562e-01 -5.53570280e-03 -1.00113334e-02 -5.00570318e+00] [ 5.52105231e-03 9.99983648e-01 -1.49043652e-03 -2.89503503e-01] [ 1.00194203e-02 1.43506590e-03 9.99948775e-01 1.12839297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202557844 meters Centerline goodness : 0.122951 with order 3 Centerline is valid? [False, False] Translation: X:-5.01, Y:-0.29, Z:1.13 [[ 9.99935312e-01 -6.14181656e-03 -9.57344009e-03 -5.00742231e+00] [ 6.12662010e-03 9.99979927e-01 -1.61587646e-03 -2.90473374e-01] [ 9.58317233e-03 1.55711910e-03 9.99952868e-01 1.12950392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26255784399999 meters Centerline goodness : 0.129912 with order 3 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.29, Z:1.13 [[ 9.99897605e-01 -7.01627455e-03 -1.24719935e-02 -5.05261602e+00] [ 7.00959881e-03 9.99975265e-01 -5.78892105e-04 -2.92679075e-01] [ 1.24757467e-02 4.91409159e-04 9.99922054e-01 1.13065968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32255784399999 meters Centerline goodness : 0.128153 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.29, Z:1.13 [[ 9.99946762e-01 9.59853846e-04 -1.02738339e-02 -5.03357818e+00] [-9.89489967e-04 9.99995363e-01 -2.87992715e-03 -2.93267058e-01] [ 1.02710219e-02 2.88993968e-03 9.99943076e-01 1.13105834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38255784399999 meters Centerline goodness : 0.140106 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.29, Z:1.13 [[ 9.99943356e-01 7.13096143e-04 -1.06196284e-02 -5.03293922e+00] [-7.42686524e-04 9.99995852e-01 -2.78270274e-03 -2.94974508e-01] [ 1.06176000e-02 2.79043217e-03 9.99939738e-01 1.13143254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44255784399999 meters Centerline goodness : 0.204067 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.30, Z:1.13 [[ 9.99937585e-01 6.31234423e-04 -1.11547336e-02 -5.03131819e+00] [-6.56201181e-04 9.99997288e-01 -2.23470267e-03 -2.98538390e-01] [ 1.11532927e-02 2.24188294e-03 9.99935287e-01 1.13107017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502557844 meters Centerline goodness : 0.130120 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.30, Z:1.13 [[ 9.99928534e-01 1.02410911e-03 -1.19112622e-02 -5.02890589e+00] [-1.04100827e-03 9.99998460e-01 -1.41264129e-03 -3.01730782e-01] [ 1.19097972e-02 1.42494006e-03 9.99928061e-01 1.13013754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562557844 meters Centerline goodness : 0.131727 with order 3 Centerline is valid? [False, False] Translation: X:-5.02, Y:-0.30, Z:1.13 [[ 9.99913312e-01 1.35214960e-03 -1.30973275e-02 -5.02472679e+00] [-1.36797189e-03 9.99998345e-01 -1.19917208e-03 -3.02746530e-01] [ 1.30956843e-02 1.21698490e-03 9.99913507e-01 1.12870704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62255784399999 meters Centerline goodness : 0.140284 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.30, Z:1.13 [[ 9.99913744e-01 1.39447254e-03 -1.30598992e-02 -5.02584842e+00] [-1.41127891e-03 9.99998188e-01 -1.27774000e-03 -3.03168249e-01] [ 1.30580938e-02 1.29606094e-03 9.99913899e-01 1.13067494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68255784399999 meters Centerline goodness : 0.147003 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.31, Z:1.13 [[ 9.99914351e-01 1.73932744e-03 -1.29717072e-02 -5.02598926e+00] [-1.74830258e-03 9.99998240e-01 -6.80593836e-04 -3.05587132e-01] [ 1.29705006e-02 7.03214013e-04 9.99915632e-01 1.13076264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74255784399999 meters Centerline goodness : 0.164997 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.31, Z:1.13 [[ 9.99914094e-01 1.88892910e-03 -1.29706180e-02 -5.02619825e+00] [-1.89309048e-03 9.99998160e-01 -3.08560909e-04 -3.07795445e-01] [ 1.29700113e-02 3.33088955e-04 9.99915830e-01 1.13108867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80255784399999 meters Centerline goodness : 0.128986 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.31, Z:1.13 [[ 9.99918674e-01 2.30672824e-03 -1.25428881e-02 -5.02738948e+00] [-2.30789128e-03 9.99997334e-01 -7.82517663e-05 -3.07755711e-01] [ 1.25426742e-02 1.07193025e-04 9.99921332e-01 1.13120689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862557844 meters Centerline goodness : 0.129324 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.31, Z:1.13 [[ 9.99921402e-01 2.29375042e-03 -1.23259544e-02 -5.02881279e+00] [-2.29537247e-03 9.99997359e-01 -1.17451255e-04 -3.08146175e-01] [ 1.23256524e-02 1.45734680e-04 9.99924026e-01 1.13274533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922557844 meters Centerline goodness : 0.128831 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.31, Z:1.13 [[ 9.99923907e-01 2.47717485e-03 -1.20848794e-02 -5.02970022e+00] [-2.47408943e-03 9.99996903e-01 2.70255663e-04 -3.09798271e-01] [ 1.20855114e-02 -2.40336026e-04 9.99926939e-01 1.13320299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.982557844 meters Centerline goodness : 0.126477 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.31, Z:1.13 [[ 9.99919452e-01 2.65706540e-03 -1.24108957e-02 -5.02789565e+00] [-2.65046437e-03 9.99996337e-01 5.48291537e-04 -3.10578738e-01] [ 1.24123071e-02 -5.15352736e-04 9.99922832e-01 1.13170250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04255784399999 meters Centerline goodness : 0.126215 with order 3 Centerline is valid? [False, False] Translation: X:-5.03, Y:-0.31, Z:1.13 [[ 9.99921194e-01 2.53567485e-03 -1.22953498e-02 -5.02859865e+00] [-2.53154458e-03 9.99996734e-01 3.51473516e-04 -3.09988020e-01] [ 1.22962008e-02 -3.20319592e-04 9.99924348e-01 1.13235027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10255784399999 meters Centerline goodness : 0.188590 with order 2 Centerline is valid? [False, False] Translation: X:-5.08, Y:-0.31, Z:1.13 [[ 9.99893829e-01 1.09688367e-03 -1.45302018e-02 -5.07500666e+00] [-1.07583669e-03 9.99998361e-01 1.45623618e-03 -3.12879867e-01] [ 1.45317753e-02 -1.44044945e-03 9.99893371e-01 1.13359447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16255784399999 meters Centerline goodness : 0.217020 with order 3 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.31, Z:1.13 [[ 9.99910316e-01 7.97291942e-03 -1.07606522e-02 -5.05479471e+00] [-7.98682909e-03 9.99967323e-01 -1.25028833e-03 -3.11801668e-01] [ 1.07503322e-02 1.33611969e-03 9.99941321e-01 1.13251823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222557844 meters Centerline goodness : 0.127261 with order 3 Centerline is valid? [False, False] Translation: X:-5.05, Y:-0.31, Z:1.13 [[ 9.99912480e-01 7.68857154e-03 -1.07665220e-02 -5.05475026e+00] [-7.70888223e-03 9.99968582e-01 -1.84623906e-03 -3.09400471e-01] [ 1.07519888e-02 1.92907533e-03 9.99940335e-01 1.13246773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282557844 meters Centerline goodness : 0.217667 with order 2 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.30, Z:1.13 [[ 9.99918335e-01 -1.50832051e-03 -1.26904441e-02 -5.07190534e+00] [ 1.49277366e-03 9.99998124e-01 -1.23446621e-03 -3.02469234e-01] [ 1.26922823e-02 1.21542144e-03 9.99918711e-01 1.13099697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342557844 meters Centerline goodness : 0.221569 with order 3 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.30, Z:1.13 [[ 9.99916499e-01 -1.44110508e-03 -1.28420738e-02 -5.07142675e+00] [ 1.42735660e-03 9.99998398e-01 -1.07968196e-03 -3.03028789e-01] [ 1.28436092e-02 1.06126158e-03 9.99916954e-01 1.13075117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40255784399999 meters Centerline goodness : 0.130453 with order 3 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.31, Z:1.13 [[ 9.99916937e-01 -1.30480969e-03 -1.28225393e-02 -5.07165552e+00] [ 1.29808553e-03 9.99999016e-01 -5.32710344e-04 -3.05964434e-01] [ 1.28232217e-02 5.16021343e-04 9.99917646e-01 1.13116364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46255784399999 meters Centerline goodness : 0.219752 with order 3 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.31, Z:1.13 [[ 9.99909511e-01 -1.29867816e-03 -1.33896334e-02 -5.06978155e+00] [ 1.29209938e-03 9.99999040e-01 -4.99973246e-04 -3.06191495e-01] [ 1.33902698e-02 4.82627267e-04 9.99910230e-01 1.13036067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52255784399999 meters Centerline goodness : 0.130293 with order 3 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.31, Z:1.13 [[ 9.99910156e-01 -1.31449293e-03 -1.33398431e-02 -5.06958411e+00] [ 1.30553391e-03 9.99998916e-01 -6.80284525e-04 -3.05157439e-01] [ 1.33407228e-02 6.62807789e-04 9.99910789e-01 1.12978391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.582557844 meters Centerline goodness : 0.349137 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.31, Z:1.13 [[ 9.99886306e-01 -2.27245826e-03 -1.49067649e-02 -5.11915669e+00] [ 2.28280729e-03 9.99997165e-01 6.77271288e-04 -3.10343105e-01] [ 1.49051836e-02 -7.11223558e-04 9.99888659e-01 1.13349706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642557844 meters Centerline goodness : 0.219639 with order 3 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.31, Z:1.13 [[ 9.99881069e-01 -2.24956543e-03 -1.52573657e-02 -5.11832007e+00] [ 2.27241046e-03 9.99996323e-01 1.48014042e-03 -3.14520535e-01] [ 1.52539799e-02 -1.51463538e-03 9.99882504e-01 1.13325780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702557844 meters Centerline goodness : 0.079678 with order 3 Centerline is valid? [False, False] Translation: X:-5.07, Y:-0.31, Z:1.13 [[ 9.99916090e-01 -1.78514664e-03 -1.28306404e-02 -5.07339464e+00] [ 1.78730022e-03 9.99998391e-01 1.56381993e-04 -3.14070798e-01] [ 1.28303405e-02 -1.79301077e-04 9.99917672e-01 1.13212267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76255784399999 meters Centerline goodness : 0.128523 with order 3 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.31, Z:1.13 [[ 9.99863059e-01 -3.57008558e-04 -1.65449677e-02 -5.11742931e+00] [ 3.97187945e-04 9.99996980e-01 2.42527366e-03 -3.14204218e-01] [ 1.65440519e-02 -2.43151300e-03 9.99860181e-01 1.13331801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82255784399999 meters Centerline goodness : 0.132105 with order 3 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.32, Z:1.13 [[ 9.99788232e-01 7.83533752e-03 -1.90289074e-02 -5.13727504e+00] [-7.80903442e-03 9.99968449e-01 1.45618412e-03 -3.15425169e-01] [ 1.90397167e-02 -1.30727835e-03 9.99817874e-01 1.13247602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88255784399999 meters Centerline goodness : 0.132503 with order 3 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.31, Z:1.13 [[ 9.99817280e-01 1.83175930e-04 -1.91147559e-02 -5.11935322e+00] [-1.36287614e-04 9.99996979e-01 2.45426437e-03 -3.06724384e-01] [ 1.91151478e-02 -2.45121083e-03 9.99814284e-01 1.13444744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94255784399999 meters Centerline goodness : 0.162998 with order 3 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.31, Z:1.13 [[ 9.99821573e-01 -5.04617959e-05 -1.88896731e-02 -5.12017043e+00] [ 9.39963787e-05 9.99997342e-01 2.30379558e-03 -3.06465659e-01] [ 1.88895067e-02 -2.30516008e-03 9.99818920e-01 1.13481096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002557844 meters Centerline goodness : 0.150953 with order 3 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.31, Z:1.14 [[ 9.99810534e-01 -2.87769405e-04 -1.94631176e-02 -5.11887447e+00] [ 3.34480621e-04 9.99997072e-01 2.39677357e-03 -3.07324549e-01] [ 1.94623709e-02 -2.40282950e-03 9.99807703e-01 1.13507387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062557844 meters Centerline goodness : 0.145053 with order 3 Centerline is valid? [False, False] Translation: X:-5.12, Y:-0.31, Z:1.14 [[ 9.99806071e-01 -3.64183130e-04 -1.96897716e-02 -5.11825414e+00] [ 4.10808497e-04 9.99997121e-01 2.36400645e-03 -3.07295324e-01] [ 1.96888540e-02 -2.37163673e-03 9.99803343e-01 1.13500726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12255784399999 meters SLAMing on 72.18255784399999 meters Centerline goodness : 0.127940 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.30, Z:1.14 [[ 9.99824686e-01 -5.54978253e-04 -1.87160416e-02 -5.17484244e+00] [ 5.79895666e-04 9.99998953e-01 1.32593901e-03 -3.00766254e-01] [ 1.87152861e-02 -1.33655990e-03 9.99823960e-01 1.13683139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24255784399999 meters Centerline goodness : 0.173852 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.30, Z:1.14 [[ 9.99825579e-01 -7.45888781e-04 -1.86615979e-02 -5.17440071e+00] [ 7.59652637e-04 9.99999445e-01 7.30471777e-04 -2.97673761e-01] [ 1.86610427e-02 -7.44520699e-04 9.99825590e-01 1.13580689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30255784399999 meters Centerline goodness : 0.167324 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.30, Z:1.14 [[ 9.99824179e-01 -8.91503756e-04 -1.87300795e-02 -5.17408631e+00] [ 8.97451528e-04 9.99999550e-01 3.09148865e-04 -2.95881864e-01] [ 1.87297955e-02 -3.25903849e-04 9.99824529e-01 1.13556972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362557844 meters Centerline goodness : 0.139369 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.29, Z:1.14 [[ 9.99746400e-01 4.58234789e-04 -2.25150300e-02 -5.21740821e+00] [-4.04081851e-04 9.99997015e-01 2.40968127e-03 -2.94033102e-01] [ 2.25160670e-02 -2.39997226e-03 9.99743601e-01 1.13626691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422557844 meters Centerline goodness : 0.125371 with order 3 Centerline is valid? [False, False] Translation: X:-5.20, Y:-0.29, Z:1.14 [[ 9.99780358e-01 8.56816448e-03 -1.91264918e-02 -5.19779111e+00] [-8.56509428e-03 9.99963290e-01 2.42434100e-04 -2.89104698e-01] [ 1.91278669e-02 -7.85606456e-05 9.99817043e-01 1.13650117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.482557844 meters Centerline goodness : 0.223577 with order 3 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.29, Z:1.14 [[ 9.99831340e-01 8.16044665e-03 -1.64529526e-02 -5.24165249e+00] [-8.16891142e-03 9.99966534e-01 -4.47342196e-04 -2.86761083e-01] [ 1.64487515e-02 5.81669460e-04 9.99864541e-01 1.13569764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54255784399999 meters Centerline goodness : 0.131732 with order 3 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.28, Z:1.13 [[ 9.99826810e-01 7.93046900e-03 -1.68362097e-02 -5.23986029e+00] [-7.95207201e-03 9.99967642e-01 -1.21656875e-03 -2.82591297e-01] [ 1.68260169e-02 1.35024080e-03 9.99857521e-01 1.13421939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60255784399999 meters Centerline goodness : 0.219427 with order 2 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.27, Z:1.14 [[ 9.99880694e-01 4.50928953e-04 -1.54400312e-02 -5.22192027e+00] [-4.51841034e-04 9.99999896e-01 -5.55841166e-05 -2.72244578e-01] [ 1.54400046e-02 6.25539248e-05 9.99880794e-01 1.13540799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66255784399999 meters Centerline goodness : 0.128636 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.27, Z:1.13 [[ 9.99877873e-01 1.85838405e-04 -1.56270615e-02 -5.22108240e+00] [-1.96365032e-04 9.99999755e-01 -6.72083536e-04 -2.69442150e-01] [ 1.56269328e-02 6.75070065e-04 9.99877664e-01 1.13475497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722557844 meters Centerline goodness : 0.202605 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.27, Z:1.13 [[ 9.99873143e-01 -2.15869416e-05 -1.59278706e-02 -5.21960331e+00] [ 6.92266913e-06 9.99999576e-01 -9.20722043e-04 -2.68640682e-01] [ 1.59278837e-02 9.20494980e-04 9.99872720e-01 1.13351091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782557844 meters Centerline goodness : 0.212393 with order 3 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.27, Z:1.13 [[ 9.99840917e-01 7.20819257e-03 -1.63150745e-02 -5.23820203e+00] [-7.24694898e-03 9.99971055e-01 -2.31762242e-03 -2.72698149e-01] [ 1.62978964e-02 2.43548824e-03 9.99864214e-01 1.13203249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842557844 meters SLAMing on 72.90255784399999 meters Centerline goodness : 0.222976 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.26, Z:1.13 [[ 9.99895042e-01 8.53597715e-04 -1.44629570e-02 -5.22231519e+00] [-8.62173191e-04 9.99999456e-01 -5.86702199e-04 -2.59220409e-01] [ 1.44624483e-02 5.99110194e-04 9.99895234e-01 1.13435398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96255784399999 meters Centerline goodness : 0.212845 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.26, Z:1.13 [[ 9.99896538e-01 5.84077972e-04 -1.43725848e-02 -5.22246922e+00] [-6.00386524e-04 9.99999181e-01 -1.13041002e-03 -2.56720592e-01] [ 1.43719128e-02 1.13892217e-03 9.99896070e-01 1.13412201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02255784399999 meters Centerline goodness : 0.133352 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.26, Z:1.13 [[ 9.99898606e-01 2.41861266e-04 -1.42379434e-02 -5.22319132e+00] [-2.55734954e-04 9.99999494e-01 -9.72604015e-04 -2.58605283e-01] [ 1.42377009e-02 9.76146539e-04 9.99898162e-01 1.13489638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.082557844 meters Centerline goodness : 0.137550 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.26, Z:1.13 [[ 9.99889452e-01 5.35013550e-05 -1.48687598e-02 -5.22124911e+00] [-6.33142369e-05 9.99999781e-01 -6.59496461e-04 -2.61380167e-01] [ 1.48687213e-02 6.60364959e-04 9.99889236e-01 1.13442647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142557844 meters Centerline goodness : 0.124286 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.26, Z:1.13 [[ 9.99889462e-01 2.16600263e-04 -1.48666392e-02 -5.22145355e+00] [-2.19652179e-04 9.99999955e-01 -2.03653712e-04 -2.63563179e-01] [ 1.48665944e-02 2.06896690e-04 9.99889465e-01 1.13480218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202557844 meters Centerline goodness : 0.217015 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.26, Z:1.13 [[ 9.99893605e-01 4.49463215e-04 -1.45800142e-02 -5.22202894e+00] [-4.53832431e-04 9.99999853e-01 -2.96364380e-04 -2.62553556e-01] [ 1.45798788e-02 3.02949732e-04 9.99893662e-01 1.13456114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26255784399999 meters Centerline goodness : 0.148869 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.26, Z:1.13 [[ 9.99888041e-01 7.22043084e-04 -1.49460079e-02 -5.22074291e+00] [-7.34335849e-04 9.99999397e-01 -8.17006539e-04 -2.58773699e-01] [ 1.49454090e-02 8.27890457e-04 9.99887968e-01 1.13369595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32255784399999 meters Centerline goodness : 0.137833 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.25, Z:1.13 [[ 9.99873939e-01 4.54931888e-03 -1.52121639e-02 -5.22020951e+00] [-4.51481899e-03 9.99987160e-01 2.30148840e-03 -2.53993834e-01] [ 1.52224388e-02 -2.23251810e-03 9.99881640e-01 1.13378362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38255784399999 meters Centerline goodness : 0.150692 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.25, Z:1.13 [[ 9.99879622e-01 4.30122181e-03 -1.49077516e-02 -5.22141308e+00] [-4.27128651e-03 9.99988799e-01 2.03929402e-03 -2.53628221e-01] [ 1.49163560e-02 -1.97537325e-03 9.99886794e-01 1.13443691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44255784399999 meters Centerline goodness : 0.137873 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.25, Z:1.13 [[ 9.99881748e-01 4.30208843e-03 -1.47642190e-02 -5.22165511e+00] [-4.27166401e-03 9.99988689e-01 2.09160320e-03 -2.53116239e-01] [ 1.47730503e-02 -2.02828808e-03 9.99888815e-01 1.13417123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502557844 meters Centerline goodness : 0.126648 with order 3 Centerline is valid? [False, False] Translation: X:-5.26, Y:-0.25, Z:1.13 [[ 9.99833103e-01 1.86486419e-03 -1.81738283e-02 -5.26353976e+00] [-1.84524677e-03 9.99997697e-01 1.09614127e-03 -2.54229298e-01] [ 1.81758306e-02 -1.06242313e-03 9.99834241e-01 1.13316738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562557844 meters Centerline goodness : 0.119841 with order 2 Centerline is valid? [False, False] Translation: X:-5.26, Y:-0.25, Z:1.13 [[ 9.99838452e-01 1.78707715e-03 -1.78850749e-02 -5.26476012e+00] [-1.77729829e-03 9.99998262e-01 5.62641021e-04 -2.50901655e-01] [ 1.78860493e-02 -5.30763014e-04 9.99839891e-01 1.13387725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62255784399999 meters Centerline goodness : 0.139381 with order 3 Centerline is valid? [False, False] Translation: X:-5.26, Y:-0.25, Z:1.13 [[ 9.99832296e-01 1.54287706e-03 -1.82482755e-02 -5.26391802e+00] [-1.54166797e-03 9.99998808e-01 8.03252458e-05 -2.49306852e-01] [ 1.82483777e-02 -5.21789931e-05 9.99833483e-01 1.13394919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68255784399999 meters Centerline goodness : 0.189682 with order 3 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.25, Z:1.13 [[ 9.99841028e-01 1.76192807e-03 -1.77430093e-02 -5.26606835e+00] [-1.76295554e-03 9.99998445e-01 -4.22670972e-05 -2.46577555e-01] [ 1.77429072e-02 7.35405144e-05 9.99842580e-01 1.13499804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74255784399999 meters Centerline goodness : 0.139582 with order 3 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.25, Z:1.14 [[ 9.99849737e-01 1.61702990e-03 -1.72594777e-02 -5.26801087e+00] [-1.62312244e-03 9.99998625e-01 -3.38993946e-04 -2.45499351e-01] [ 1.72589058e-02 3.66957253e-04 9.99850987e-01 1.13619031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80255784399999 meters Centerline goodness : 0.120818 with order 2 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.24, Z:1.14 [[ 9.99774885e-01 4.02486388e-03 -2.08321828e-02 -5.31107595e+00] [-3.97430389e-03 9.99989057e-01 2.46784631e-03 -2.42879359e-01] [ 2.08418876e-02 -2.38449733e-03 9.99779941e-01 1.13596595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862557844 meters Centerline goodness : 0.135071 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.24, Z:1.13 [[ 9.99750426e-01 6.97259180e-03 -2.12242540e-02 -5.30899257e+00] [-6.87722058e-03 9.99965940e-01 4.56318074e-03 -2.37209160e-01] [ 2.12553483e-02 -4.41607801e-03 9.99764326e-01 1.13466408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922557844 meters Centerline goodness : 0.130763 with order 3 Centerline is valid? [False, False] Translation: X:-5.33, Y:-0.23, Z:1.13 [[ 9.99788442e-01 8.45164597e-04 -2.05513290e-02 -5.33118016e+00] [-7.07306441e-04 9.99977208e-01 6.71433609e-03 -2.25327262e-01] [ 2.05565353e-02 -6.69837953e-03 9.99766253e-01 1.13318849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.982557844 meters Centerline goodness : 0.135118 with order 3 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.22, Z:1.14 [[ 9.99860118e-01 -5.02421407e-05 -1.67255054e-02 -5.29590471e+00] [ 1.40223142e-04 9.99985525e-01 5.37873815e-03 -2.15123859e-01] [ 1.67249931e-02 -5.38033106e-03 9.99845651e-01 1.13569896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04255784399999 meters Centerline goodness : 0.197259 with order 3 Centerline is valid? [False, False] Translation: X:-5.29, Y:-0.21, Z:1.13 [[ 9.99844345e-01 -1.88971851e-03 -1.75418040e-02 -5.29204566e+00] [ 1.95642030e-03 9.99990919e-01 3.78606567e-03 -2.12705270e-01] [ 1.75344901e-02 -3.81979549e-03 9.99838962e-01 1.13351395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10255784399999 meters Centerline goodness : 0.169391 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.22, Z:1.13 [[ 9.99812046e-01 2.31309081e-03 -1.92489579e-02 -5.31219423e+00] [-2.32052798e-03 9.99997241e-01 -3.64040741e-04 -2.16808280e-01] [ 1.92480627e-02 4.08640063e-04 9.99814655e-01 1.13273690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16255784399999 meters Centerline goodness : 0.140155 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.22, Z:1.14 [[ 9.99829239e-01 -4.31494214e-05 -1.84794597e-02 -5.31670418e+00] [ 1.35014356e-06 9.99997442e-01 -2.26193832e-03 -2.18522818e-01] [ 1.84795100e-02 2.26152712e-03 9.99826682e-01 1.13579033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222557844 meters Centerline goodness : 0.163876 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.22, Z:1.14 [[ 9.99834841e-01 6.88041788e-06 -1.81738816e-02 -5.31783850e+00] [-4.12389210e-05 9.99998213e-01 -1.89016882e-03 -2.20491699e-01] [ 1.81738362e-02 1.89060611e-03 9.99833055e-01 1.13647695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282557844 meters Centerline goodness : 0.174870 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.22, Z:1.13 [[ 9.99810025e-01 5.47311740e-04 -1.94837038e-02 -5.31338796e+00] [-5.81323609e-04 9.99998317e-01 -1.74003638e-03 -2.19533582e-01] [ 1.94827187e-02 1.75103215e-03 9.99808660e-01 1.13450505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342557844 meters Centerline goodness : 0.139425 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.22, Z:1.13 [[ 9.99815545e-01 1.34109966e-03 -1.91592901e-02 -5.31465674e+00] [-1.37543366e-03 9.99997472e-01 -1.77896374e-03 -2.16812006e-01] [ 1.91568559e-02 1.80498793e-03 9.99814861e-01 1.13492987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40255784399999 meters Centerline goodness : 0.139147 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.22, Z:1.14 [[ 9.99825302e-01 1.41046630e-03 -1.86380457e-02 -5.31611745e+00] [-1.44715253e-03 9.99997042e-01 -1.95501146e-03 -2.15546543e-01] [ 1.86352331e-02 1.98164202e-03 9.99824385e-01 1.13504996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46255784399999 meters Centerline goodness : 0.172343 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.22, Z:1.13 [[ 9.99816694e-01 1.50427699e-03 -1.90870764e-02 -5.31488642e+00] [-1.53328622e-03 9.99997692e-01 -1.50529326e-03 -2.17928722e-01] [ 1.90847680e-02 1.53428328e-03 9.99816692e-01 1.13489791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52255784399999 meters Centerline goodness : 0.135294 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.22, Z:1.14 [[ 9.99834419e-01 -1.09044283e-03 -1.81643913e-02 -5.31990684e+00] [ 1.02972229e-03 9.99993852e-01 -3.35185170e-03 -2.22959549e-01] [ 1.81679346e-02 3.33259242e-03 9.99829395e-01 1.13813361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.582557844 meters Centerline goodness : 0.157986 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.23, Z:1.14 [[ 9.99825837e-01 -3.92543986e-03 -1.82451787e-02 -5.31706292e+00] [ 3.82601909e-03 9.99977661e-01 -5.48086832e-03 -2.28493388e-01] [ 1.82662859e-02 5.41010736e-03 9.99818520e-01 1.13517356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642557844 meters Centerline goodness : 0.131463 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.23, Z:1.14 [[ 9.99824945e-01 -3.53876511e-03 -1.83726877e-02 -5.31687145e+00] [ 3.45421720e-03 9.99983309e-01 -4.63152282e-03 -2.32126900e-01] [ 1.83887709e-02 4.56724880e-03 9.99820481e-01 1.13537506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702557844 meters Centerline goodness : 0.147348 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.23, Z:1.14 [[ 9.99832325e-01 -3.34878514e-03 -1.80029856e-02 -5.31795125e+00] [ 3.27199849e-03 9.99985432e-01 -4.29298222e-03 -2.33319521e-01] [ 1.80170996e-02 4.23335665e-03 9.99828717e-01 1.13569727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76255784399999 meters Centerline goodness : 0.131974 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.24, Z:1.14 [[ 9.99830906e-01 -3.34468290e-03 -1.80823736e-02 -5.31772459e+00] [ 3.27124570e-03 9.99986288e-01 -4.08931328e-03 -2.35387527e-01] [ 1.80958031e-02 4.02946991e-03 9.99828138e-01 1.13569208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82255784399999 meters Centerline goodness : 0.133291 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.23, Z:1.14 [[ 9.99827862e-01 -3.38585705e-03 -1.82423235e-02 -5.31710820e+00] [ 3.30587460e-03 9.99984799e-01 -4.41281802e-03 -2.33927124e-01] [ 1.82569873e-02 4.35175157e-03 9.99823857e-01 1.13529391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88255784399999 meters Centerline goodness : 0.130707 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.23, Z:1.13 [[ 9.99828640e-01 -3.35374285e-03 -1.82055840e-02 -5.31702112e+00] [ 3.27262383e-03 9.99984593e-01 -4.48368741e-03 -2.33053585e-01] [ 1.82203406e-02 4.42333905e-03 9.99824211e-01 1.13484413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94255784399999 meters Centerline goodness : 0.140989 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.23, Z:1.13 [[ 9.99822982e-01 -3.31719109e-03 -1.85202704e-02 -5.31569158e+00] [ 3.23942236e-03 9.99985817e-01 -4.22753609e-03 -2.34533667e-01] [ 1.85340313e-02 4.16679276e-03 9.99819547e-01 1.13402973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002557844 meters Centerline goodness : 0.148810 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.24, Z:1.13 [[ 9.99817397e-01 -3.55783887e-03 -1.87753572e-02 -5.31529467e+00] [ 3.48421121e-03 9.99986118e-01 -3.95276115e-03 -2.37380558e-01] [ 1.87891598e-02 3.88662206e-03 9.99815914e-01 1.13445074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062557844 meters Centerline goodness : 0.169324 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.24, Z:1.14 [[ 9.99823300e-01 -3.42321823e-03 -1.84837714e-02 -5.31645368e+00] [ 3.35297185e-03 9.99987044e-01 -3.83008907e-03 -2.37055020e-01] [ 1.84966432e-02 3.76743673e-03 9.99821824e-01 1.13510386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12255784399999 meters Centerline goodness : 0.150575 with order 3 Centerline is valid? [False, False] Translation: X:-5.34, Y:-0.24, Z:1.14 [[ 9.99815231e-01 2.60567939e-03 -1.90450402e-02 -5.33896705e+00] [-2.73908086e-03 9.99971876e-01 -6.98179994e-03 -2.40415685e-01] [ 1.90263123e-02 7.03267583e-03 9.99794249e-01 1.13505762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18255784399999 meters Centerline goodness : 0.139546 with order 3 Centerline is valid? [False, False] Translation: X:-5.34, Y:-0.24, Z:1.13 [[ 9.99797389e-01 2.97697337e-03 -1.99077549e-02 -5.33619806e+00] [-3.11880883e-03 9.99969950e-01 -7.09738591e-03 -2.38463227e-01] [ 1.98860279e-02 7.15803638e-03 9.99776629e-01 1.13379790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24255784399999 meters Centerline goodness : 0.140598 with order 3 Centerline is valid? [False, False] Translation: X:-5.34, Y:-0.24, Z:1.13 [[ 9.99802604e-01 3.08159947e-03 -1.96279532e-02 -5.33745507e+00] [-3.22261331e-03 9.99969197e-01 -7.15676400e-03 -2.37055774e-01] [ 1.96052943e-02 7.21860458e-03 9.99781738e-01 1.13458600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30255784399999 meters Centerline goodness : 0.140855 with order 3 Centerline is valid? [False, False] Translation: X:-5.34, Y:-0.24, Z:1.13 [[ 9.99803458e-01 3.07942101e-03 -1.95847423e-02 -5.33771466e+00] [-3.21827043e-03 9.99969884e-01 -7.06211181e-03 -2.37970521e-01] [ 1.95624053e-02 7.12375280e-03 9.99783259e-01 1.13482130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362557844 meters Centerline goodness : 0.127577 with order 3 Centerline is valid? [False, False] Translation: X:-5.34, Y:-0.24, Z:1.14 [[ 9.99821994e-01 3.35523364e-03 -1.85667158e-02 -5.34055658e+00] [-3.48782935e-03 9.99968614e-01 -7.11381417e-03 -2.36344439e-01] [ 1.85422645e-02 7.17730540e-03 9.99802316e-01 1.13523936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422557844 meters Centerline goodness : 0.142330 with order 3 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.24, Z:1.14 [[ 9.99752184e-01 3.39239386e-03 -2.20014008e-02 -5.38503016e+00] [-3.53636409e-03 9.99972569e-01 -6.50808175e-03 -2.37409781e-01] [ 2.19787193e-02 6.58427391e-03 9.99736757e-01 1.13605967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.482557844 meters Centerline goodness : 0.141459 with order 3 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.23, Z:1.14 [[ 9.99764097e-01 3.83105290e-03 -2.13792763e-02 -5.38685959e+00] [-3.97814350e-03 9.99968682e-01 -6.84177141e-03 -2.33598209e-01] [ 2.13523955e-02 6.92520725e-03 9.99748027e-01 1.13622267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54255784399999 meters Centerline goodness : 0.143176 with order 2 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.23, Z:1.14 [[ 9.99761831e-01 3.59012364e-03 -2.15265358e-02 -5.38659769e+00] [-3.75489069e-03 9.99963928e-01 -7.61860860e-03 -2.29658814e-01] [ 2.14984075e-02 7.69762387e-03 9.99739249e-01 1.13624688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60255784399999 meters Centerline goodness : 0.142693 with order 3 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.23, Z:1.14 [[ 9.99767571e-01 3.39772111e-03 -2.12899111e-02 -5.38680605e+00] [-3.57355711e-03 9.99959776e-01 -8.22652924e-03 -2.26416822e-01] [ 2.12611033e-02 8.30069787e-03 9.99739498e-01 1.13552590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66255784399999 meters Centerline goodness : 0.139625 with order 3 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.23, Z:1.14 [[ 9.99770415e-01 3.04359340e-03 -2.12097421e-02 -5.38743045e+00] [-3.22670968e-03 9.99957773e-01 -8.60472535e-03 -2.25197395e-01] [ 2.11826572e-02 8.67118752e-03 9.99738018e-01 1.13620196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722557844 meters Centerline goodness : 0.142149 with order 3 Centerline is valid? [False, False] Translation: X:-5.43, Y:-0.23, Z:1.14 [[ 9.99784461e-01 -7.85957194e-04 -2.07464014e-02 -5.42912041e+00] [ 6.00736083e-04 9.99959923e-01 -8.93258987e-03 -2.29372743e-01] [ 2.07525905e-02 8.91820144e-03 9.99744865e-01 1.13522151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782557844 meters Centerline goodness : 0.141990 with order 3 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.23, Z:1.14 [[ 0.99974158 -0.00957466 -0.02061771 -5.40632235] [ 0.0093936 0.99991662 -0.00886082 -0.22631476] [ 0.02070083 0.00866486 0.99974817 1.1354984 ] [ 0. 0. 0. 1. ]] SLAMing on 75.842557844 meters Centerline goodness : 0.141551 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.23, Z:1.14 [[ 0.99972795 -0.00951363 -0.02129599 -5.40445184] [ 0.00933948 0.99992226 -0.00826177 -0.22962687] [ 0.02137293 0.00806063 0.99973908 1.13532147] [ 0. 0. 0. 1. ]] SLAMing on 75.90255784399999 meters Centerline goodness : 0.131911 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.24, Z:1.13 [[ 9.99769230e-01 -1.88388657e-03 -2.13994922e-02 -5.42330344e+00] [ 1.69152820e-03 9.99958037e-01 -9.00346936e-03 -2.38946593e-01] [ 2.14155557e-02 8.96519378e-03 9.99730463e-01 1.13251470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96255784399999 meters Centerline goodness : 0.140985 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.24, Z:1.13 [[ 9.99750332e-01 -1.61273118e-03 -2.22861554e-02 -5.42112406e+00] [ 1.42057543e-03 9.99961706e-01 -8.63534598e-03 -2.40654485e-01] [ 2.22992285e-02 8.60153084e-03 9.99714338e-01 1.13256548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02255784399999 meters Centerline goodness : 0.141442 with order 3 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.25, Z:1.13 [[ 0.9997181 0.00672438 -0.0227705 -5.44172314] [-0.00693612 0.99993332 -0.00923271 -0.2472591 ] [ 0.0227069 0.00938805 0.99969808 1.13090839] [ 0. 0. 0. 1. ]] SLAMing on 76.082557844 meters Centerline goodness : 0.200494 with order 3 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.25, Z:1.13 [[ 0.99971765 0.00685444 -0.02275174 -5.44135795] [-0.00705885 0.99993534 -0.00891598 -0.2491654 ] [ 0.02268915 0.00907406 0.99970139 1.1301406 ] [ 0. 0. 0. 1. ]] SLAMing on 76.142557844 meters Centerline goodness : 0.139440 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.25, Z:1.13 [[ 9.99731833e-01 -5.06670318e-04 -2.31517732e-02 -5.42176166e+00] [ 3.30701400e-04 9.99971036e-01 -7.60386362e-03 -2.45387377e-01] [ 2.31549553e-02 7.59416820e-03 9.99703044e-01 1.13227392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202557844 meters Centerline goodness : 0.144220 with order 3 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.25, Z:1.13 [[ 9.99648316e-01 -2.51609571e-03 -2.63991330e-02 -5.46775842e+00] [ 2.30484708e-03 9.99965107e-01 -8.02948390e-03 -2.50643646e-01] [ 2.64184148e-02 7.96581410e-03 9.99619234e-01 1.13445031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26255784399999 meters Centerline goodness : 0.139571 with order 3 Centerline is valid? [False, False] Translation: X:-5.45, Y:-0.25, Z:1.13 [[ 9.99747094e-01 5.03656740e-03 -2.19175946e-02 -5.44872278e+00] [-5.25785504e-03 9.99935670e-01 -1.00504599e-02 -2.48386220e-01] [ 2.18655648e-02 1.01631576e-02 9.99709261e-01 1.13452782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32255784399999 meters Centerline goodness : 0.144137 with order 3 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.25, Z:1.14 [[ 9.99683175e-01 5.04929948e-03 -2.46587576e-02 -5.49624362e+00] [-5.26357612e-03 9.99948886e-01 -8.63251501e-03 -2.50769911e-01] [ 2.46139090e-02 8.75957326e-03 9.99658654e-01 1.13662532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38255784399999 meters Centerline goodness : 0.141165 with order 3 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.25, Z:1.14 [[ 9.99685517e-01 5.10331918e-03 -2.45524618e-02 -5.49676701e+00] [-5.30950460e-03 9.99951126e-01 -8.33990053e-03 -2.52291278e-01] [ 2.45087006e-02 8.46763918e-03 9.99663755e-01 1.13709242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44255784399999 meters Centerline goodness : 0.139158 with order 3 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.25, Z:1.14 [[ 9.99688747e-01 5.19963230e-03 -2.44002538e-02 -5.49729480e+00] [-5.39609845e-03 9.99953497e-01 -7.99288383e-03 -2.54071769e-01] [ 2.43575590e-02 8.12206220e-03 9.99670316e-01 1.13735226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502557844 meters Centerline goodness : 0.142119 with order 3 Centerline is valid? [False, False] Translation: X:-5.50, Y:-0.25, Z:1.14 [[ 9.99686938e-01 5.21553088e-03 -2.44708806e-02 -5.49690949e+00] [-5.41121615e-03 9.99953858e-01 -7.93726557e-03 -2.54554366e-01] [ 2.44283545e-02 8.06719794e-03 9.99669033e-01 1.13706637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562557844 meters Centerline goodness : 0.212638 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.26, Z:1.14 [[ 0.99957581 0.00641672 -0.02840807 -5.53818555] [-0.00659023 0.99996017 -0.00601844 -0.25657915] [ 0.02836832 0.00620311 0.99957829 1.13575809] [ 0. 0. 0. 1. ]] SLAMing on 76.62255784399999 meters Centerline goodness : 0.187753 with order 3 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.25, Z:1.13 [[ 9.99515718e-01 9.38378477e-03 -2.96694061e-02 -5.53230399e+00] [-9.51131281e-03 9.99946113e-01 -4.16009498e-03 -2.50264935e-01] [ 2.96287699e-02 4.44027532e-03 9.99551109e-01 1.13217943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68255784399999 meters Centerline goodness : 0.137612 with order 3 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.25, Z:1.13 [[ 9.99531080e-01 9.79564507e-03 -2.90114788e-02 -5.53488505e+00] [-9.93117249e-03 9.99940419e-01 -4.53110762e-03 -2.46166746e-01] [ 2.89653651e-02 4.81710089e-03 9.99568809e-01 1.13330642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74255784399999 meters Centerline goodness : 0.142253 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.13 [[ 9.99554859e-01 9.58552338e-03 -2.82524757e-02 -5.53712172e+00] [-9.74117789e-03 9.99938097e-01 -5.37693338e-03 -2.41386340e-01] [ 2.81991861e-02 5.64975227e-03 9.99586358e-01 1.13368223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80255784399999 meters Centerline goodness : 0.145117 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.13 [[ 9.99556960e-01 9.42531017e-03 -2.82320119e-02 -5.53748261e+00] [-9.58477439e-03 9.99938838e-01 -5.51835466e-03 -2.41024192e-01] [ 2.81782730e-02 5.78650727e-03 9.99586165e-01 1.13419139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862557844 meters Centerline goodness : 0.143599 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.13 [[ 9.99577807e-01 5.20319495e-03 -2.85855709e-02 -5.53626313e+00] [-5.48366724e-03 9.99937509e-01 -9.74205746e-03 -2.39570764e-01] [ 2.85330948e-02 9.89469819e-03 9.99543875e-01 1.13351512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922557844 meters Centerline goodness : 0.141074 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99571722e-01 -2.81669545e-03 -2.91279797e-02 -5.51556711e+00] [ 2.55811548e-03 9.99957026e-01 -8.91083124e-03 -2.34627749e-01] [ 2.91518271e-02 8.83250219e-03 9.99535971e-01 1.13546282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.982557844 meters Centerline goodness : 0.144254 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99600857e-01 -3.02710268e-03 -2.80885079e-02 -5.51911091e+00] [ 2.78666791e-03 9.99959179e-01 -8.59509820e-03 -2.36602753e-01] [ 2.81133795e-02 8.51339418e-03 9.99568487e-01 1.13711130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04255784399999 meters Centerline goodness : 0.138821 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99597768e-01 -3.27645796e-03 -2.81703163e-02 -5.51944784e+00] [ 3.04621207e-03 9.99961638e-01 -8.21238500e-03 -2.39924570e-01] [ 2.81961432e-02 8.12326896e-03 9.99569402e-01 1.13815684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10255784399999 meters Centerline goodness : 0.138516 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99572387e-01 -3.23130957e-03 -2.90620446e-02 -5.51606559e+00] [ 3.00475470e-03 9.99964785e-01 -7.83585446e-03 -2.42272282e-01] [ 2.90863413e-02 7.74517943e-03 9.99546896e-01 1.13633167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16255784399999 meters Centerline goodness : 0.140461 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99598593e-01 -2.99657932e-03 -2.81722153e-02 -5.51881131e+00] [ 2.77811325e-03 9.99965794e-01 -7.79060921e-03 -2.41263615e-01] [ 2.81945969e-02 7.70921640e-03 9.99572725e-01 1.13707835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222557844 meters Centerline goodness : 0.157745 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99613281e-01 -2.72385398e-03 -2.76743259e-02 -5.52058701e+00] [ 2.49768365e-03 9.99963229e-01 -8.20385164e-03 -2.38036558e-01] [ 2.76956544e-02 8.13155735e-03 9.99583327e-01 1.13777256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282557844 meters Centerline goodness : 0.143505 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99603854e-01 -2.70454105e-03 -2.80146337e-02 -5.51896349e+00] [ 2.45947985e-03 9.99958445e-01 -8.77838090e-03 -2.34524651e-01] [ 2.80372111e-02 8.70600196e-03 9.99568967e-01 1.13631060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342557844 meters Centerline goodness : 0.148567 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99609287e-01 -2.88857631e-03 -2.78015993e-02 -5.51991289e+00] [ 2.62860459e-03 9.99952524e-01 -9.38297145e-03 -2.31203820e-01] [ 2.78273829e-02 9.30622599e-03 9.99569423e-01 1.13687969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40255784399999 meters Centerline goodness : 0.145433 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99607502e-01 -3.10980770e-03 -2.78418944e-02 -5.52007923e+00] [ 2.84039201e-03 9.99948813e-01 -9.71095418e-03 -2.29790358e-01] [ 2.78706685e-02 9.62806076e-03 9.99565169e-01 1.13725384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46255784399999 meters Centerline goodness : 0.142547 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99610718e-01 -3.13425218e-03 -2.77234423e-02 -5.52008790e+00] [ 2.86482623e-03 9.99948337e-01 -9.75273008e-03 -2.29202237e-01] [ 2.77525776e-02 9.66951067e-03 9.99568054e-01 1.13677813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52255784399999 meters Centerline goodness : 0.145080 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99606115e-01 -3.29916133e-03 -2.78698938e-02 -5.52040779e+00] [ 3.02411221e-03 9.99946367e-01 -9.90543183e-03 -2.29028705e-01] [ 2.79010787e-02 9.81724854e-03 9.99562480e-01 1.13792774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.582557844 meters Centerline goodness : 0.139043 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99603465e-01 -3.37734437e-03 -2.79554452e-02 -5.52028258e+00] [ 3.09775351e-03 9.99944814e-01 -1.00385757e-02 -2.28618968e-01] [ 2.79878062e-02 9.94799595e-03 9.99558763e-01 1.13807757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642557844 meters Centerline goodness : 0.145903 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99604105e-01 -3.42142376e-03 -2.79271616e-02 -5.52027030e+00] [ 3.13955112e-03 9.99943754e-01 -1.01307512e-02 -2.28309511e-01] [ 2.79602524e-02 1.00390617e-02 9.99558623e-01 1.13793290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702557844 meters Centerline goodness : 0.151092 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99589233e-01 -3.25977600e-03 -2.84734940e-02 -5.51910838e+00] [ 2.98943299e-03 9.99950101e-01 -9.53196351e-03 -2.31457425e-01] [ 2.85031452e-02 9.44292849e-03 9.99549099e-01 1.13830077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76255784399999 meters Centerline goodness : 0.144134 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99590880e-01 -3.07688356e-03 -2.84359980e-02 -5.51905780e+00] [ 2.82544182e-03 9.99956595e-01 -8.87832845e-03 -2.35038836e-01] [ 2.84620813e-02 8.79435189e-03 9.99556186e-01 1.13817599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82255784399999 meters Centerline goodness : 0.144298 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99601041e-01 -2.81065148e-03 -2.81044295e-02 -5.52034027e+00] [ 2.57877533e-03 9.99962367e-01 -8.28336321e-03 -2.37869953e-01] [ 2.81266535e-02 8.20758348e-03 9.99570671e-01 1.13896179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88255784399999 meters Centerline goodness : 0.145163 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99579048e-01 -2.50845110e-03 -2.89038750e-02 -5.51790397e+00] [ 2.27096561e-03 9.99963420e-01 -8.24628870e-03 -2.36901447e-01] [ 2.89235031e-02 8.17717770e-03 9.99548180e-01 1.13811756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94255784399999 meters Centerline goodness : 0.143062 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99562588e-01 -2.14482550e-03 -2.94962972e-02 -5.51612734e+00] [ 1.89891927e-03 9.99963232e-01 -8.36233725e-03 -2.35321681e-01] [ 2.95131485e-02 8.30266838e-03 9.99529909e-01 1.13746582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002557844 meters Centerline goodness : 0.142248 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99559520e-01 -2.18181784e-03 -2.95974017e-02 -5.51620581e+00] [ 1.93510731e-03 9.99963169e-01 -8.36163081e-03 -2.35686824e-01] [ 2.96145552e-02 8.30067353e-03 9.99526927e-01 1.13794319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062557844 meters Centerline goodness : 0.143363 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99565191e-01 -2.67623932e-03 -2.93643867e-02 -5.51746294e+00] [ 2.43866001e-03 9.99964030e-01 -8.12356151e-03 -2.38169855e-01] [ 2.93850711e-02 8.04841955e-03 9.99535763e-01 1.13918681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12255784399999 meters Centerline goodness : 0.144617 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99607017e-01 -3.89395418e-03 -2.77605503e-02 -5.52284269e+00] [ 3.65027363e-03 9.99954412e-01 -8.82322291e-03 -2.39103388e-01] [ 2.77936420e-02 8.71842193e-03 9.99575661e-01 1.14133671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18255784399999 meters Centerline goodness : 0.149751 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.24, Z:1.14 [[ 9.99603160e-01 -3.91293873e-03 -2.78964240e-02 -5.52245240e+00] [ 3.66473296e-03 9.99953295e-01 -8.94298614e-03 -2.38038375e-01] [ 2.79301145e-02 8.83720426e-03 9.99570814e-01 1.14125153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24255784399999 meters Centerline goodness : 0.148032 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99590984e-01 -4.20957257e-03 -2.82868336e-02 -5.52096189e+00] [ 3.93586632e-03 9.99944967e-01 -9.72482207e-03 -2.34690547e-01] [ 2.83262143e-02 9.60951127e-03 9.99552541e-01 1.14034058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30255784399999 meters Centerline goodness : 0.148669 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99598710e-01 -4.18914169e-03 -2.80155340e-02 -5.52269697e+00] [ 3.91570290e-03 9.99944234e-01 -9.80800565e-03 -2.33730582e-01] [ 2.80550588e-02 9.69436929e-03 9.99559369e-01 1.14196560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362557844 meters Centerline goodness : 0.147206 with order 3 Centerline is valid? [False, False] Translation: X:-5.52, Y:-0.23, Z:1.14 [[ 9.99607193e-01 -4.22406505e-03 -2.77058844e-02 -5.52428603e+00] [ 3.95495318e-03 9.99944541e-01 -9.76078322e-03 -2.34189620e-01] [ 2.77455780e-02 9.64737364e-03 9.99568462e-01 1.14331314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422557844 meters Centerline goodness : 0.173683 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.14 [[ 9.99584850e-01 3.13012302e-03 -2.86414136e-02 -5.54349559e+00] [-3.45737568e-03 9.99929229e-01 -1.13834764e-02 -2.40638000e-01] [ 2.86037550e-02 1.14777747e-02 9.99524930e-01 1.14095371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.482557844 meters Centerline goodness : 0.147969 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.14 [[ 9.99577747e-01 3.92125298e-03 -2.87915131e-02 -5.54319459e+00] [-4.24135717e-03 9.99929782e-01 -1.10653651e-02 -2.38611508e-01] [ 2.87461013e-02 1.11828078e-02 9.99524190e-01 1.14085605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54255784399999 meters Centerline goodness : 0.148200 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.14 [[ 9.99568933e-01 3.94023621e-03 -2.90933404e-02 -5.54261130e+00] [-4.26621478e-03 9.99928725e-01 -1.11510186e-02 -2.38241463e-01] [ 2.90473291e-02 1.12703302e-02 9.99514498e-01 1.14113305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60255784399999 meters Centerline goodness : 0.145420 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.14 [[ 9.99583390e-01 4.16928641e-03 -2.85598204e-02 -5.54425544e+00] [-4.47823360e-03 9.99932059e-01 -1.07621399e-02 -2.39718371e-01] [ 2.85130096e-02 1.08855538e-02 9.99534148e-01 1.14157687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66255784399999 meters Centerline goodness : 0.147522 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.14 [[ 9.99582713e-01 4.24418763e-03 -2.85724755e-02 -5.54421100e+00] [-4.54809334e-03 9.99933690e-01 -1.05797370e-02 -2.40727531e-01] [ 2.85256784e-02 1.07052725e-02 9.99535734e-01 1.14154665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722557844 meters Centerline goodness : 0.181054 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.14 [[ 9.99577726e-01 4.39758639e-03 -2.87233644e-02 -5.54375659e+00] [-4.70171100e-03 9.99933514e-01 -1.05291141e-02 -2.39969981e-01] [ 2.86751520e-02 1.06597169e-02 9.99531944e-01 1.14137113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782557844 meters Centerline goodness : 0.148292 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.14 [[ 9.99579946e-01 4.46943532e-03 -2.86348551e-02 -5.54405012e+00] [-4.76044949e-03 9.99937633e-01 -1.01028367e-02 -2.42876323e-01] [ 2.85879153e-02 1.02349078e-02 9.99538883e-01 1.14154306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842557844 meters Centerline goodness : 0.192085 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.24, Z:1.14 [[ 9.99577312e-01 4.55233864e-03 -2.87136459e-02 -5.54392828e+00] [-4.83795140e-03 9.99939436e-01 -9.88531834e-03 -2.43888898e-01] [ 2.86669055e-02 1.00200552e-02 9.99538797e-01 1.14165129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90255784399999 meters Centerline goodness : 0.141470 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.25, Z:1.14 [[ 9.99561452e-01 4.69960548e-03 -2.92372672e-02 -5.54244055e+00] [-4.97731068e-03 9.99943123e-01 -9.43281430e-03 -2.45900016e-01] [ 2.91912737e-02 9.57420052e-03 9.99527991e-01 1.14141367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96255784399999 meters Centerline goodness : 0.146135 with order 3 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.25, Z:1.14 [[ 9.99567111e-01 4.53722098e-03 -2.90689463e-02 -5.54315473e+00] [-4.81679017e-03 9.99942752e-01 -9.55465640e-03 -2.46405888e-01] [ 2.90239306e-02 9.69053931e-03 9.99531743e-01 1.14190670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02255784399999 meters Centerline goodness : 0.145709 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.24, Z:1.14 [[ 9.99512784e-01 -8.57102342e-04 -3.12003282e-02 -5.56303413e+00] [ 6.62664154e-04 9.99980301e-01 -6.24173449e-03 -2.38177401e-01] [ 3.12050633e-02 6.21801807e-03 9.99493662e-01 1.14118570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.082557844 meters Centerline goodness : 0.195700 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.23, Z:1.14 [[ 9.99511844e-01 -8.24329059e-04 -3.12313140e-02 -5.56280041e+00] [ 6.10988249e-04 9.99976421e-01 -6.83991815e-03 -2.34169033e-01] [ 3.12362159e-02 6.81749724e-03 9.99488780e-01 1.14070336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142557844 meters Centerline goodness : 0.140326 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.23, Z:1.14 [[ 9.99514506e-01 -1.01624903e-03 -3.11403050e-02 -5.56318584e+00] [ 7.94318121e-04 9.99974206e-01 -7.13834800e-03 -2.32676310e-01] [ 3.11467561e-02 7.11014707e-03 9.99489532e-01 1.14086921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202557844 meters Centerline goodness : 0.139505 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.23, Z:1.14 [[ 9.99501505e-01 -5.31755995e-03 -3.11201663e-02 -5.56456507e+00] [ 4.98177881e-03 9.99928646e-01 -1.08574322e-02 -2.34029420e-01] [ 3.11756808e-02 1.06969861e-02 9.99456678e-01 1.14265876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26255784399999 meters Centerline goodness : 0.149169 with order 3 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.24, Z:1.14 [[ 9.99525755e-01 -5.57937861e-03 -3.02842580e-02 -5.56731386e+00] [ 5.26965595e-03 9.99933095e-01 -1.02973788e-02 -2.37032356e-01] [ 3.03396848e-02 1.01329077e-02 9.99488283e-01 1.14380282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32255784399999 meters Centerline goodness : 0.156112 with order 3 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.24, Z:1.14 [[ 0.99949341 -0.00987625 -0.03025543 -5.56699177] [ 0.00946231 0.99986008 -0.01379416 -0.24064528] [ 0.03038743 0.01350088 0.99944701 1.14340864] [ 0. 0. 0. 1. ]] SLAMing on 79.38255784399999 meters Centerline goodness : 0.157386 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.24, Z:1.14 [[ 0.99947082 -0.00984558 -0.0310022 -5.56480974] [ 0.00943943 0.99986806 -0.01321975 -0.24358046] [ 0.03112827 0.01292011 0.99943189 1.1429322 ] [ 0. 0. 0. 1. ]] SLAMing on 79.44255784399999 meters Centerline goodness : 0.158565 with order 3 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.25, Z:1.14 [[ 0.99943233 -0.01377467 -0.03074526 -5.56631997] [ 0.01328322 0.99978164 -0.01613176 -0.2500715 ] [ 0.03096075 0.01571421 0.99939707 1.14447065] [ 0. 0. 0. 1. ]] SLAMing on 79.502557844 meters Centerline goodness : 0.146649 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.26, Z:1.15 [[ 0.99934765 -0.01447136 -0.03308869 -5.61397568] [ 0.01398422 0.9997911 -0.0149066 -0.25842566] [ 0.0332975 0.01443415 0.99934125 1.14598491] [ 0. 0. 0. 1. ]] SLAMing on 79.562557844 meters Centerline goodness : 0.148890 with order 3 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.26, Z:1.15 [[ 0.9994684 -0.00748628 -0.03173141 -5.59298841] [ 0.00694637 0.9998298 -0.01709129 -0.2636805 ] [ 0.03185396 0.01686179 0.99935029 1.14534064] [ 0. 0. 0. 1. ]] SLAMing on 79.62255784399999 meters Centerline goodness : 0.149104 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.27, Z:1.15 [[ 9.99567890e-01 1.70186683e-03 -2.93451205e-02 -5.61947715e+00] [-2.17416850e-03 9.99868500e-01 -1.60703373e-02 -2.68642403e-01] [ 2.93139120e-02 1.61271944e-02 9.99440147e-01 1.14587535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68255784399999 meters Centerline goodness : 0.145540 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.27, Z:1.15 [[ 9.99554015e-01 1.68499951e-03 -2.98149528e-02 -5.61782664e+00] [-2.16753695e-03 9.99867077e-01 -1.61594996e-02 -2.68648391e-01] [ 2.97837610e-02 1.62169177e-02 9.99424804e-01 1.14531919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74255784399999 meters Centerline goodness : 0.142866 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.27, Z:1.15 [[ 9.99554157e-01 1.91964534e-03 -2.97960166e-02 -5.61788955e+00] [-2.38166596e-03 9.99877366e-01 -1.54783837e-02 -2.72181249e-01] [ 2.97626496e-02 1.55424470e-02 9.99436150e-01 1.14527164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80255784399999 meters Centerline goodness : 0.134406 with order 2 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.15 [[ 9.99570335e-01 -5.97308708e-03 -2.86961227e-02 -5.59844042e+00] [ 5.57753678e-03 9.99888605e-01 -1.38444279e-02 -2.69342877e-01] [ 2.87756201e-02 1.36784258e-02 9.99492303e-01 1.14679870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862557844 meters Centerline goodness : 0.151857 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.15 [[ 9.99561685e-01 -5.80107097e-03 -2.90307528e-02 -5.59672247e+00] [ 5.41025165e-03 9.99893927e-01 -1.35227418e-02 -2.70720789e-01] [ 2.91061198e-02 1.33597509e-02 9.99487044e-01 1.14539102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922557844 meters Centerline goodness : 0.137200 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.27, Z:1.14 [[ 9.99535364e-01 2.91910527e-03 -3.03403192e-02 -5.61758444e+00] [-3.33915271e-03 9.99899157e-01 -1.38030955e-02 -2.74930699e-01] [ 3.02969669e-02 1.38979931e-02 9.99444315e-01 1.14406758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.982557844 meters Centerline goodness : 0.149386 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.27, Z:1.14 [[ 9.99521919e-01 3.20681790e-03 -3.07514076e-02 -5.61665687e+00] [-3.63360913e-03 9.99897718e-01 -1.38329301e-02 -2.74179921e-01] [ 3.07039026e-02 1.39380554e-02 9.99431339e-01 1.14444777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04255784399999 meters Centerline goodness : 0.155646 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.27, Z:1.14 [[ 9.99514268e-01 3.14267639e-03 -3.10056634e-02 -5.61555239e+00] [-3.58400553e-03 9.99892915e-01 -1.41885309e-02 -2.72572246e-01] [ 3.09577531e-02 1.42927635e-02 9.99418498e-01 1.14383145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10255784399999 meters Centerline goodness : 0.137227 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.27, Z:1.14 [[ 0.99949335 0.00713972 -0.03101726 -5.61590916] [-0.00747215 0.99991574 -0.01061475 -0.27063012] [ 0.03093886 0.01084113 0.99946248 1.14460536] [ 0. 0. 0. 1. ]] SLAMing on 80.16255784399999 meters Centerline goodness : 0.145894 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.27, Z:1.15 [[ 0.99949765 0.00704613 -0.03089993 -5.61645895] [-0.00738663 0.9999131 -0.01091928 -0.26926358] [ 0.0308203 0.01114204 0.99946284 1.14502282] [ 0. 0. 0. 1. ]] SLAMing on 80.222557844 meters Centerline goodness : 0.147626 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.26, Z:1.15 [[ 9.99498827e-01 -8.75210520e-06 -3.16558910e-02 -5.59687805e+00] [-2.98836899e-04 9.99952794e-01 -9.71189918e-03 -2.62502572e-01] [ 3.16544816e-02 9.71649178e-03 9.99451641e-01 1.14691255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282557844 meters Centerline goodness : 0.144036 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.26, Z:1.15 [[ 9.99497793e-01 1.36781456e-04 -3.16882204e-02 -5.59728167e+00] [-4.34242289e-04 9.99955909e-01 -9.38041900e-03 -2.63909533e-01] [ 3.16855401e-02 9.38946846e-03 9.99453783e-01 1.14769185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342557844 meters Centerline goodness : 0.152538 with order 3 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.26, Z:1.15 [[ 0.99956745 -0.007451 -0.0284498 -5.5785622 ] [ 0.00722995 0.99994294 -0.00786464 -0.26420948] [ 0.02850678 0.00765555 0.99956428 1.14941445] [ 0. 0. 0. 1. ]] SLAMing on 80.40255784399999 meters Centerline goodness : 0.152983 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.15 [[ 9.99594010e-01 -2.42380416e-03 -2.83890998e-02 -5.60143968e+00] [ 2.12502315e-03 9.99942090e-01 -1.05499431e-02 -2.73424131e-01] [ 2.84130268e-02 1.04853324e-02 9.99541274e-01 1.14897340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46255784399999 meters Centerline goodness : 0.144673 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.28, Z:1.15 [[ 9.99582481e-01 -2.20549622e-03 -2.88097273e-02 -5.60008658e+00] [ 1.91902719e-03 9.99948483e-01 -9.96735003e-03 -2.76123079e-01] [ 2.88302261e-02 9.90790182e-03 9.99535218e-01 1.14846502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52255784399999 meters Centerline goodness : 0.151381 with order 2 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.28, Z:1.15 [[ 9.99587273e-01 -1.85471609e-03 -2.86678263e-02 -5.60086130e+00] [ 1.59760859e-03 9.99958324e-01 -8.98880772e-03 -2.81564395e-01] [ 2.86833032e-02 8.93929783e-03 9.99548577e-01 1.14922818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.582557844 meters Centerline goodness : 0.147390 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.28, Z:1.15 [[ 9.99579078e-01 -1.41975723e-03 -2.89767404e-02 -5.59963621e+00] [ 1.17216526e-03 9.99962678e-01 -8.55970579e-03 -2.82981803e-01] [ 2.89878116e-02 8.52213729e-03 9.99543436e-01 1.14843451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642557844 meters Centerline goodness : 0.147234 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.28, Z:1.15 [[ 9.99598476e-01 -9.39252392e-04 -2.83197001e-02 -5.60122783e+00] [ 7.06206487e-04 9.99965818e-01 -8.23798832e-03 -2.83335445e-01] [ 2.83264696e-02 8.21468101e-03 9.99564970e-01 1.14825387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702557844 meters Centerline goodness : 0.165918 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.29, Z:1.15 [[ 9.99471509e-01 -1.26606965e-03 -3.24822912e-02 -5.64543661e+00] [ 9.96431583e-04 9.99964926e-01 -8.31592412e-03 -2.88495347e-01] [ 3.24916804e-02 8.27916285e-03 9.99437715e-01 1.15010674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76255784399999 meters Centerline goodness : 0.187969 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.29, Z:1.15 [[ 9.99467230e-01 -1.19034701e-03 -3.26165504e-02 -5.64497462e+00] [ 9.21235464e-04 9.99965424e-01 -8.26455262e-03 -2.88459564e-01] [ 3.26252604e-02 8.23010199e-03 9.99433769e-01 1.14987581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82255784399999 meters Centerline goodness : 0.147295 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.29, Z:1.15 [[ 9.99465795e-01 -9.89149051e-04 -3.26672175e-02 -5.64459713e+00] [ 7.33426051e-04 9.99969004e-01 -7.83917823e-03 -2.90417949e-01] [ 3.26739591e-02 7.81103151e-03 9.99435541e-01 1.14947214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88255784399999 meters Centerline goodness : 0.142926 with order 3 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.30, Z:1.15 [[ 9.99401433e-01 -3.10372678e-03 -3.44549347e-02 -5.69281301e+00] [ 2.84203741e-03 9.99966765e-01 -7.64149965e-03 -2.99916856e-01] [ 3.44775067e-02 7.53900348e-03 9.99377038e-01 1.15077270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94255784399999 meters Centerline goodness : 0.150945 with order 3 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.30, Z:1.15 [[ 9.99407226e-01 -2.90735493e-03 -3.43036976e-02 -5.69345465e+00] [ 2.65834149e-03 9.99969803e-01 -7.30246178e-03 -3.00912252e-01] [ 3.43238926e-02 7.20694213e-03 9.99384776e-01 1.15119226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002557844 meters Centerline goodness : 0.214976 with order 2 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.30, Z:1.15 [[ 9.99395347e-01 -3.01442483e-03 -3.46389043e-02 -5.69201276e+00] [ 2.75400593e-03 9.99967605e-01 -7.56335892e-03 -3.00176197e-01] [ 3.46605813e-02 7.46338996e-03 9.99371273e-01 1.15025796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062557844 meters Centerline goodness : 0.155126 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.30, Z:1.15 [[ 9.99269422e-01 -2.34461168e-03 -3.81461127e-02 -5.73548848e+00] [ 2.13312942e-03 9.99982136e-01 -5.58376122e-03 -3.03587011e-01] [ 3.81585230e-02 5.49831125e-03 9.99256572e-01 1.14983755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12255784399999 meters Centerline goodness : 0.181898 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.30, Z:1.15 [[ 9.99264214e-01 -2.30208038e-03 -3.82848741e-02 -5.73528750e+00] [ 2.07923081e-03 9.99980671e-01 -5.85962317e-03 -3.01634034e-01] [ 3.82976234e-02 5.77570865e-03 9.99249685e-01 1.14990216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18255784399999 meters Centerline goodness : 0.140724 with order 2 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.30, Z:1.15 [[ 9.99277983e-01 -2.39927831e-03 -3.79177505e-02 -5.73615432e+00] [ 2.16927257e-03 9.99979006e-01 -6.10589019e-03 -3.00348928e-01] [ 3.79316042e-02 6.01922770e-03 9.99262209e-01 1.14972112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24255784399999 meters Centerline goodness : 0.198173 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.30, Z:1.15 [[ 9.99296319e-01 5.44521880e-03 -3.71108537e-02 -5.75866642e+00] [-5.71060175e-03 9.99958851e-01 -7.04884291e-03 -3.02381641e-01] [ 3.70709441e-02 7.25580809e-03 9.99286294e-01 1.14859081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30255784399999 meters Centerline goodness : 0.141502 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.30, Z:1.15 [[ 9.99296784e-01 5.22020813e-03 -3.71306768e-02 -5.75810730e+00] [-5.52218815e-03 9.99952471e-01 -8.03499585e-03 -2.96403835e-01] [ 3.70869676e-02 8.23438809e-03 9.99278115e-01 1.14765048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362557844 meters Centerline goodness : 0.127404 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.29, Z:1.15 [[ 9.99298751e-01 4.87719055e-03 -3.71243716e-02 -5.75775937e+00] [-5.20879211e-03 9.99947354e-01 -8.84070619e-03 -2.92659292e-01] [ 3.70792994e-02 9.02787978e-03 9.99271546e-01 1.14697089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422557844 meters Centerline goodness : 0.126668 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.29, Z:1.15 [[ 9.99302474e-01 4.51047697e-03 -3.70704839e-02 -5.75840005e+00] [-4.86658439e-03 9.99942826e-01 -9.52161137e-03 -2.89682854e-01] [ 3.70254174e-02 9.69537643e-03 9.99267291e-01 1.14771316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.482557844 meters Centerline goodness : 0.215663 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.29, Z:1.15 [[ 9.99320004e-01 4.38549088e-03 -3.66100688e-02 -5.76015000e+00] [-4.74259069e-03 9.99941969e-01 -9.67300466e-03 -2.88880976e-01] [ 3.65655234e-02 9.84005363e-03 9.99282811e-01 1.14866179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54255784399999 meters Centerline goodness : 0.135899 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.29, Z:1.15 [[ 9.99250217e-01 -5.07233046e-03 -3.83832626e-02 -5.77963695e+00] [ 4.73421427e-03 9.99949234e-01 -8.89471857e-03 -2.86898791e-01] [ 3.84264310e-02 8.70633488e-03 9.99223503e-01 1.14635069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60255784399999 meters Centerline goodness : 0.128647 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.29, Z:1.15 [[ 9.99245392e-01 -5.14318451e-03 -3.84992863e-02 -5.77923033e+00] [ 4.79356026e-03 9.99946482e-01 -9.16812489e-03 -2.85336803e-01] [ 3.85443793e-02 8.97665790e-03 9.99216568e-01 1.14611559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66255784399999 meters Centerline goodness : 0.128472 with order 3 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.29, Z:1.14 [[ 9.99216796e-01 2.83043607e-03 -3.94687549e-02 -5.79957363e+00] [-3.24716776e-03 9.99939618e-01 -1.04984160e-02 -2.88014831e-01] [ 3.94366566e-02 1.06183552e-02 9.99165652e-01 1.14470080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722557844 meters Centerline goodness : 0.138808 with order 3 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.28, Z:1.14 [[ 9.99169454e-01 5.78506599e-03 -4.03352843e-02 -5.79518392e+00] [-6.13488479e-03 9.99944591e-01 -8.55439694e-03 -2.81733671e-01] [ 4.02835617e-02 8.79474445e-03 9.99149582e-01 1.14194766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782557844 meters Centerline goodness : 0.125785 with order 3 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.28, Z:1.14 [[ 9.99187563e-01 5.67432628e-03 -3.99000723e-02 -5.79631052e+00] [-6.04282379e-03 9.99940144e-01 -9.12097927e-03 -2.78544709e-01] [ 3.98459286e-02 9.35467816e-03 9.99162045e-01 1.14183249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842557844 meters Centerline goodness : 0.138749 with order 3 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.28, Z:1.14 [[ 9.99207147e-01 5.49616638e-03 -3.94318371e-02 -5.79812446e+00] [-5.87888459e-03 9.99936672e-01 -9.59643795e-03 -2.76101050e-01] [ 3.93765963e-02 9.82064461e-03 9.99176180e-01 1.14279269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90255784399999 meters Centerline goodness : 0.135755 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.27, Z:1.15 [[ 9.99181988e-01 -1.05911830e-03 -4.04256508e-02 -5.78025881e+00] [ 7.20826216e-04 9.99964611e-01 -8.38191207e-03 -2.65061707e-01] [ 4.04330976e-02 8.34591570e-03 9.99147392e-01 1.14615312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96255784399999 meters Centerline goodness : 0.137500 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.26, Z:1.15 [[ 9.99157332e-01 -1.37078515e-03 -4.10213054e-02 -5.77810571e+00] [ 1.00653276e-03 9.99959897e-01 -8.89892674e-03 -2.63035536e-01] [ 4.10318588e-02 8.85013861e-03 9.99118642e-01 1.14517664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02255784399999 meters Centerline goodness : 0.137107 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.26, Z:1.15 [[ 9.99206680e-01 -2.53499497e-03 -3.97439967e-02 -5.78247210e+00] [ 2.15562076e-03 9.99951736e-01 -9.58539611e-03 -2.62720305e-01] [ 3.97663774e-02 9.49211883e-03 9.99163918e-01 1.14699656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.082557844 meters Centerline goodness : 0.141880 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.27, Z:1.15 [[ 9.99226843e-01 -3.04213134e-03 -3.91977343e-02 -5.78424061e+00] [ 2.67742262e-03 9.99952671e-01 -9.35346949e-03 -2.65476187e-01] [ 3.92243336e-02 9.24128889e-03 9.99187695e-01 1.14788704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142557844 meters Centerline goodness : 0.140381 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.27, Z:1.15 [[ 0.99918797 -0.00719088 -0.0396445 -5.78237529] [ 0.00667673 0.99989208 -0.01308603 -0.26743767] [ 0.03973432 0.01281071 0.99912815 1.14680626] [ 0. 0. 0. 1. ]] SLAMing on 82.202557844 meters Centerline goodness : 0.141488 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.27, Z:1.15 [[ 0.99920464 -0.00692182 -0.03927043 -5.7839398 ] [ 0.00644499 0.99990412 -0.01225579 -0.2714314 ] [ 0.0393515 0.01199294 0.99915346 1.14796357] [ 0. 0. 0. 1. ]] SLAMing on 82.26255784399999 meters Centerline goodness : 0.141167 with order 3 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.28, Z:1.15 [[ 9.99311465e-01 1.82630080e-03 -3.70575341e-02 -5.76604917e+00] [-2.32534375e-03 9.99907135e-01 -1.34280784e-02 -2.76640083e-01] [ 3.70295690e-02 1.35050042e-02 9.99222911e-01 1.15049090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32255784399999 meters Centerline goodness : 0.143736 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.28, Z:1.15 [[ 9.99145934e-01 3.07556319e-03 -4.12061051e-02 -5.80840069e+00] [-3.55629033e-03 9.99926415e-01 -1.15981879e-02 -2.82537469e-01] [ 4.11674020e-02 1.17348231e-02 9.99083349e-01 1.15034668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38255784399999 meters Centerline goodness : 0.129216 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.28, Z:1.15 [[ 9.99112780e-01 3.57071032e-03 -4.19631247e-02 -5.80616532e+00] [-4.04905690e-03 9.99927732e-01 -1.13197533e-02 -2.82882191e-01] [ 4.19196725e-02 1.14796213e-02 9.99055033e-01 1.14970207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44255784399999 meters Centerline goodness : 0.122833 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.28, Z:1.15 [[ 9.99111593e-01 3.93403769e-03 -4.19588777e-02 -5.80614193e+00] [-4.40650037e-03 9.99927864e-01 -1.11735997e-02 -2.82778506e-01] [ 4.19118936e-02 1.13485648e-02 9.99056857e-01 1.14952018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502557844 meters Centerline goodness : 0.128455 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.28, Z:1.15 [[ 9.99153066e-01 4.75654288e-03 -4.08720774e-02 -5.80946062e+00] [-5.19271961e-03 9.99930629e-01 -1.05722251e-02 -2.83526470e-01] [ 4.08189549e-02 1.07755084e-02 9.99108453e-01 1.15027597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562557844 meters Centerline goodness : 0.137512 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.28, Z:1.15 [[ 9.99146341e-01 4.79441886e-03 -4.10317189e-02 -5.80904249e+00] [-5.22544259e-03 9.99932225e-01 -1.04038521e-02 -2.84840811e-01] [ 4.09790575e-02 1.06093796e-02 9.99103677e-01 1.15028295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62255784399999 meters Centerline goodness : 0.127571 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.29, Z:1.15 [[ 9.99152207e-01 4.90865164e-03 -4.08750749e-02 -5.80946921e+00] [-5.32685401e-03 9.99934516e-01 -1.01286113e-02 -2.86083146e-01] [ 4.08226804e-02 1.03377599e-02 9.99112926e-01 1.15029786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68255784399999 meters Centerline goodness : 0.138284 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.29, Z:1.15 [[ 9.99171555e-01 5.03012514e-03 -4.03844123e-02 -5.81138558e+00] [-5.43253185e-03 9.99936624e-01 -9.86085773e-03 -2.86876005e-01] [ 4.03322516e-02 1.00720782e-02 9.99135558e-01 1.15136470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74255784399999 meters Centerline goodness : 0.128327 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.29, Z:1.15 [[ 9.99167724e-01 5.02922938e-03 -4.04791947e-02 -5.81133946e+00] [-5.42425937e-03 9.99938678e-01 -9.65493283e-03 -2.88235351e-01] [ 4.04281556e-02 9.86646692e-03 9.99133733e-01 1.15170224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80255784399999 meters Centerline goodness : 0.128858 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.29, Z:1.15 [[ 9.99163380e-01 5.11463132e-03 -4.05756245e-02 -5.81096760e+00] [-5.49737733e-03 9.99941392e-01 -9.32694342e-03 -2.89960646e-01] [ 4.05255426e-02 9.54219983e-03 9.99132938e-01 1.15147864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862557844 meters Centerline goodness : 0.395375 with order 2 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.29, Z:1.15 [[ 9.99190046e-01 -3.14585664e-03 -4.01167641e-02 -5.78959572e+00] [ 2.80950591e-03 9.99960453e-01 -8.43791593e-03 -2.89519906e-01] [ 4.01417221e-02 8.31837332e-03 9.99159370e-01 1.15316990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922557844 meters Centerline goodness : 0.128104 with order 2 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.30, Z:1.15 [[ 9.99030139e-01 -5.65563315e-03 -4.36668761e-02 -5.83162036e+00] [ 5.26175066e-03 9.99944478e-01 -9.12984133e-03 -2.96303103e-01] [ 4.37160867e-02 8.89122244e-03 9.99004429e-01 1.15202091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.982557844 meters Centerline goodness : 0.119762 with order 2 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.30, Z:1.15 [[ 9.99026593e-01 -5.48710618e-03 -4.37693713e-02 -5.83134245e+00] [ 5.11048157e-03 9.99948991e-01 -8.71201201e-03 -2.98453366e-01] [ 4.38149424e-02 8.47984912e-03 9.99003675e-01 1.15200957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04255784399999 meters Centerline goodness : 0.212105 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.30, Z:1.15 [[ 9.99007154e-01 -5.24676533e-03 -4.42400076e-02 -5.82970474e+00] [ 4.86405470e-03 9.99949853e-01 -8.75399444e-03 -2.97343616e-01] [ 4.42837193e-02 8.53011725e-03 9.98982577e-01 1.15121040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10255784399999 meters Centerline goodness : 0.120758 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.30, Z:1.15 [[ 9.98998149e-01 -5.20446511e-03 -4.44478614e-02 -5.82936368e+00] [ 4.82033138e-03 9.99950142e-01 -8.74515647e-03 -2.97306766e-01] [ 4.44911591e-02 8.52214170e-03 9.98973428e-01 1.15147413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16255784399999 meters Centerline goodness : 0.133840 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.30, Z:1.15 [[ 9.99005882e-01 -5.04618809e-03 -4.42920169e-02 -5.83022956e+00] [ 4.68314109e-03 9.99954616e-01 -8.29660963e-03 -2.99675080e-01] [ 4.43318730e-02 8.08093606e-03 9.98984176e-01 1.15225197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222557844 meters Centerline goodness : 0.137092 with order 2 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.30, Z:1.15 [[ 9.99004595e-01 -4.85081768e-03 -4.43428506e-02 -5.83001235e+00] [ 4.51057165e-03 9.99959641e-01 -7.76991311e-03 -3.02444405e-01] [ 4.43787514e-02 7.56216730e-03 9.98986156e-01 1.15216921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282557844 meters Centerline goodness : 0.150176 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.30, Z:1.15 [[ 9.98983014e-01 -4.74511135e-03 -4.48377269e-02 -5.82841824e+00] [ 4.41613929e-03 9.99962622e-01 -7.43315673e-03 -3.04344176e-01] [ 4.48713222e-02 7.22758767e-03 9.98966629e-01 1.15165181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342557844 meters Centerline goodness : 0.136432 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.31, Z:1.15 [[ 9.98976411e-01 -4.54092730e-03 -4.50056610e-02 -5.82773984e+00] [ 4.22992009e-03 9.99966531e-01 -7.00322844e-03 -3.06177431e-01] [ 4.50359559e-02 6.80568967e-03 9.98962184e-01 1.15125248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40255784399999 meters Centerline goodness : 0.222391 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.31, Z:1.15 [[ 9.98986798e-01 -4.42736684e-03 -4.47858974e-02 -5.82824679e+00] [ 4.12552048e-03 9.99968165e-01 -6.82994927e-03 -3.06902216e-01] [ 4.48147104e-02 6.63826401e-03 9.98973260e-01 1.15117847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46255784399999 meters Centerline goodness : 0.135369 with order 2 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.31, Z:1.15 [[ 9.99044098e-01 4.51713112e-03 -4.34797194e-02 -5.80826640e+00] [-4.86831685e-03 9.99956352e-01 -7.97450534e-03 -3.08700182e-01] [ 4.34417998e-02 8.17855555e-03 9.99022483e-01 1.15293030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52255784399999 meters Centerline goodness : 0.162724 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.31, Z:1.15 [[ 9.99050517e-01 4.44307821e-03 -4.33396300e-02 -5.80851146e+00] [-4.80396024e-03 9.99954624e-01 -8.22624378e-03 -3.07509329e-01] [ 4.33011136e-02 8.42663496e-03 9.99026529e-01 1.15271775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.582557844 meters Centerline goodness : 0.148460 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.30, Z:1.15 [[ 9.99039380e-01 4.25613589e-03 -4.36142561e-02 -5.80765101e+00] [-4.64129564e-03 9.99951090e-01 -8.73359834e-03 -3.04957238e-01] [ 4.35749516e-02 8.92763533e-03 9.99010271e-01 1.15241429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642557844 meters Centerline goodness : 0.134601 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.30, Z:1.15 [[ 9.99025312e-01 4.03651277e-03 -4.39560276e-02 -5.80633111e+00] [-4.43971786e-03 9.99948928e-01 -9.07916210e-03 -3.03497151e-01] [ 4.39171345e-02 9.26546511e-03 9.98992210e-01 1.15171874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702557844 meters Centerline goodness : 0.175830 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.30, Z:1.15 [[ 9.99041195e-01 3.86934703e-03 -4.36086901e-02 -5.80781948e+00] [-4.28619231e-03 9.99945979e-01 -9.46932084e-03 -3.01289065e-01] [ 4.35696942e-02 9.64715685e-03 9.99003811e-01 1.15257924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76255784399999 meters Centerline goodness : 0.134018 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.30, Z:1.15 [[ 9.99060406e-01 3.58044264e-03 -4.31912762e-02 -5.80999372e+00] [-4.03370822e-03 9.99937660e-01 -1.04117956e-02 -2.95572937e-01] [ 4.31513048e-02 1.05762337e-02 9.99012567e-01 1.15415100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82255784399999 meters Centerline goodness : 0.133929 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.29, Z:1.15 [[ 9.99066091e-01 3.29564550e-03 -4.30823022e-02 -5.81043878e+00] [-3.77223895e-03 9.99932539e-01 -1.09857836e-02 -2.92964688e-01] [ 4.30431906e-02 1.11380406e-02 9.99011125e-01 1.15437316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88255784399999 meters Centerline goodness : 0.117852 with order 2 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.29, Z:1.16 [[ 9.99091865e-01 3.08584111e-03 -4.24961537e-02 -5.81246410e+00] [-3.56985081e-03 9.99929573e-01 -1.13183211e-02 -2.91108491e-01] [ 4.24582343e-02 1.14597474e-02 9.99032518e-01 1.15517060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94255784399999 meters Centerline goodness : 0.124211 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.28, Z:1.16 [[ 9.99033523e-01 -5.15038949e-03 -4.36519661e-02 -5.79027088e+00] [ 4.66197149e-03 9.99925473e-01 -1.12833369e-02 -2.82647346e-01] [ 4.37068265e-02 1.10689276e-02 9.98983079e-01 1.15705427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002557844 meters Centerline goodness : 0.126427 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.28, Z:1.16 [[ 9.99026135e-01 -5.26298127e-03 -4.38073295e-02 -5.79002952e+00] [ 4.76588094e-03 9.99923156e-01 -1.14441405e-02 -2.82018487e-01] [ 4.38641935e-02 1.12242149e-02 9.98974449e-01 1.15736158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062557844 meters Centerline goodness : 0.143742 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.29, Z:1.16 [[ 9.99053902e-01 3.48357888e-03 -4.33493527e-02 -5.81441727e+00] [-3.98586500e-03 9.99925861e-01 -1.15059013e-02 -2.85089157e-01] [ 4.33060571e-02 1.16678003e-02 9.98993718e-01 1.15776602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12255784399999 meters Centerline goodness : 0.136646 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.28, Z:1.16 [[ 9.99025250e-01 4.05392128e-03 -4.39558409e-02 -5.81226467e+00] [-4.57106263e-03 9.99921445e-01 -1.16708988e-02 -2.82008658e-01] [ 4.39050750e-02 1.18604475e-02 9.98965302e-01 1.15664205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18255784399999 meters Centerline goodness : 0.133954 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.28, Z:1.16 [[ 9.99035044e-01 4.11152250e-03 -4.37273042e-02 -5.81268597e+00] [-4.64338726e-03 9.99916390e-01 -1.20686117e-02 -2.79814442e-01] [ 4.36740278e-02 1.22600088e-02 9.98970606e-01 1.15628082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24255784399999 meters Centerline goodness : 0.137731 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.28, Z:1.16 [[ 9.99049646e-01 4.25534591e-03 -4.33785257e-02 -5.81407388e+00] [-4.77398796e-03 9.99918276e-01 -1.18596202e-02 -2.80420476e-01] [ 4.33245139e-02 1.20554380e-02 9.98988315e-01 1.15701802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30255784399999 meters Centerline goodness : 0.239978 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.28, Z:1.16 [[ 9.99102232e-01 -3.16360579e-03 -4.22459580e-02 -5.79424876e+00] [ 2.73680838e-03 9.99944674e-01 -1.01566970e-02 -2.79312733e-01] [ 4.22757525e-02 1.00319596e-02 9.99055614e-01 1.15850963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362557844 meters Centerline goodness : 0.131083 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.29, Z:1.16 [[ 9.99136786e-01 2.00691418e-03 -4.14928361e-02 -5.81797117e+00] [-2.55687572e-03 9.99909534e-01 -1.32055561e-02 -2.86481242e-01] [ 4.14625799e-02 1.33002489e-02 9.99051529e-01 1.15781077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422557844 meters Centerline goodness : 0.122542 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.29, Z:1.16 [[ 9.99143339e-01 2.22301778e-03 -4.13236856e-02 -5.81849417e+00] [-2.76051833e-03 9.99912275e-01 -1.29545736e-02 -2.87478164e-01] [ 4.12912623e-02 1.30575507e-02 9.99061826e-01 1.15793850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48255784399998 meters Centerline goodness : 0.132964 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.29, Z:1.16 [[ 9.99128898e-01 2.44788603e-03 -4.16587705e-02 -5.81749878e+00] [-2.98824033e-03 9.99912150e-01 -1.29136381e-02 -2.87362159e-01] [ 4.16234997e-02 1.30268754e-02 9.99048440e-01 1.15764828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54255784399999 meters Centerline goodness : 0.124537 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.29, Z:1.16 [[ 9.99119601e-01 2.37760728e-03 -4.18851891e-02 -5.81637172e+00] [-2.92562618e-03 9.99910860e-01 -1.30274001e-02 -2.87250803e-01] [ 4.18504814e-02 1.31384712e-02 9.99037496e-01 1.15677669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60255784399999 meters Centerline goodness : 0.120835 with order 2 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.29, Z:1.16 [[ 9.99109745e-01 2.35369910e-03 -4.21209782e-02 -5.81551832e+00] [-2.90374867e-03 9.99911249e-01 -1.30023902e-02 -2.87682821e-01] [ 4.20866362e-02 1.31131235e-02 9.99027908e-01 1.15635350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66255784399999 meters Centerline goodness : 0.143645 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.29, Z:1.16 [[ 9.99098104e-01 2.28428061e-03 -4.24000172e-02 -5.81519550e+00] [-2.82289589e-03 9.99916030e-01 -1.26476629e-02 -2.90152256e-01] [ 4.23675661e-02 1.27559469e-02 9.99020658e-01 1.15700568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722557844 meters Centerline goodness : 0.140377 with order 2 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.29, Z:1.16 [[ 9.99143378e-01 2.02013104e-03 -4.13331481e-02 -5.81853961e+00] [-2.52067354e-03 9.99924081e-01 -1.20614235e-02 -2.94372288e-01] [ 4.13056445e-02 1.21552788e-02 9.99072616e-01 1.15827695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782557844 meters Centerline goodness : 0.151300 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.30, Z:1.16 [[ 9.99115937e-01 -5.02798635e-04 -4.20367840e-02 -5.81406037e+00] [-6.44936964e-05 9.99908967e-01 -1.34926959e-02 -3.02301981e-01] [ 4.20397414e-02 1.34834786e-02 9.99024953e-01 1.15528436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842557844 meters Centerline goodness : 0.151031 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.31, Z:1.15 [[ 9.99095534e-01 -2.55017193e-04 -4.25211671e-02 -5.81254466e+00] [-2.93554414e-04 9.99916821e-01 -1.28943988e-02 -3.05120065e-01] [ 4.25209185e-02 1.28952185e-02 9.99012355e-01 1.15482827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90255784399999 meters Centerline goodness : 0.140749 with order 2 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.31, Z:1.16 [[ 9.99171862e-01 1.07742123e-03 -4.06746856e-02 -5.81897459e+00] [-1.54074096e-03 9.99934272e-01 -1.13612335e-02 -3.09025383e-01] [ 4.06597713e-02 1.14144940e-02 9.99107848e-01 1.15722515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96255784399999 meters Centerline goodness : 0.136722 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.31, Z:1.16 [[ 9.99158860e-01 1.08364909e-03 -4.09926591e-02 -5.81763829e+00] [-1.55975076e-03 9.99931685e-01 -1.15841163e-02 -3.07941126e-01] [ 4.09773056e-02 1.16383108e-02 9.99092293e-01 1.15633353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02255784399999 meters Centerline goodness : 0.168342 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.30, Z:1.15 [[ 9.99083840e-01 3.24298027e-03 -4.26727534e-02 -5.81016488e+00] [-3.68058031e-03 9.99941406e-01 -1.01802210e-02 -3.02501459e-01] [ 4.26372388e-02 1.03279548e-02 9.99037236e-01 1.15246227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.082557844 meters Centerline goodness : 0.134192 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.30, Z:1.15 [[ 9.99108695e-01 3.27572916e-03 -4.20842596e-02 -5.81267534e+00] [-3.72075888e-03 9.99937943e-01 -1.05007590e-02 -2.99432752e-01] [ 4.20472504e-02 1.06479850e-02 9.99058882e-01 1.15379037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142557844 meters Centerline goodness : 0.119839 with order 2 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.30, Z:1.15 [[ 0.99915746 -0.00659103 -0.04050843 -5.83754655] [ 0.00617356 0.99992663 -0.01042232 -0.29566597] [ 0.04057415 0.01016346 0.99912484 1.15328627] [ 0. 0. 0. 1. ]] SLAMing on 85.202557844 meters Centerline goodness : 0.126418 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.30, Z:1.15 [[ 0.99910207 -0.0101791 -0.04112718 -5.83415961] [ 0.0096499 0.99986834 -0.01304535 -0.29910773] [ 0.04125456 0.01263676 0.99906875 1.15136625] [ 0. 0. 0. 1. ]] SLAMing on 85.26255784399999 meters Centerline goodness : 0.126403 with order 3 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.30, Z:1.15 [[ 0.99906647 -0.01427339 -0.04077316 -5.83530687] [ 0.01361213 0.99977203 -0.01644995 -0.30248861] [ 0.04099866 0.01587958 0.99903301 1.15201974] [ 0. 0. 0. 1. ]] SLAMing on 85.32255784399999 meters Centerline goodness : 0.127749 with order 3 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.31, Z:1.15 [[ 0.99901624 -0.01831833 -0.0403856 -5.83674513] [ 0.01752575 0.9996485 -0.0198928 -0.30591562] [ 0.04073581 0.01916545 0.99898613 1.15296272] [ 0. 0. 0. 1. ]] SLAMing on 85.38255784399999 meters Centerline goodness : 0.153527 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.31, Z:1.15 [[ 0.99914569 -0.00955782 -0.04020622 -5.8581355 ] [ 0.00877196 0.99976791 -0.0196771 -0.31219788] [ 0.04038496 0.0193076 0.99899763 1.15117487] [ 0. 0. 0. 1. ]] SLAMing on 85.44255784399999 meters Centerline goodness : 0.125511 with order 3 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.31, Z:1.15 [[ 0.99914308 -0.00903532 -0.04039144 -5.85774341] [ 0.00824272 0.99977104 -0.01974655 -0.31073094] [ 0.0405606 0.0193967 0.99898879 1.15118286] [ 0. 0. 0. 1. ]] SLAMing on 85.502557844 meters Centerline goodness : 0.152486 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 9.99094323e-01 9.76774665e-04 -4.25391576e-02 -5.87814726e+00] [-1.79408365e-03 9.99814453e-01 -1.91791612e-02 -3.14106908e-01] [ 4.25125309e-02 1.92381099e-02 9.98910697e-01 1.15049018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562557844 meters Centerline goodness : 0.200281 with order 3 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 9.99062833e-01 4.99284086e-03 -4.29945131e-02 -5.87643621e+00] [-5.66783261e-03 9.99862374e-01 -1.55919243e-02 -3.12875874e-01] [ 4.29107479e-02 1.58209977e-02 9.98953634e-01 1.14968453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62255784399999 meters Centerline goodness : 0.220680 with order 2 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 0.99912916 0.0059301 -0.0413007 -5.88199641] [-0.00655097 0.99986732 -0.0149138 -0.31262436] [ 0.04120678 0.01517137 0.99903545 1.15113474] [ 0. 0. 0. 1. ]] SLAMing on 85.68255784399999 meters Centerline goodness : 0.118242 with order 2 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 9.99143289e-01 5.87202953e-03 -4.09659264e-02 -5.88284951e+00] [-6.50461833e-03 9.99861397e-01 -1.53256658e-02 -3.10058374e-01] [ 4.08702556e-02 1.55790038e-02 9.99043000e-01 1.15105991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74255784399999 meters Centerline goodness : 0.140806 with order 2 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.31, Z:1.15 [[ 9.99159468e-01 -4.03566415e-03 -4.07930137e-02 -5.90717476e+00] [ 3.41976871e-03 9.99879284e-01 -1.51565828e-02 -3.08137321e-01] [ 4.08492563e-02 1.50043406e-02 9.99052655e-01 1.15175639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80255784399999 meters Centerline goodness : 0.136763 with order 2 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.31, Z:1.15 [[ 0.99913396 -0.01216415 -0.03979154 -5.88628379] [ 0.01160839 0.99983224 -0.01416819 -0.30558916] [ 0.03995721 0.013694 0.99910755 1.15321112] [ 0. 0. 0. 1. ]] SLAMing on 85.862557844 meters Centerline goodness : 0.150480 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 0.99909505 -0.0125415 -0.04064221 -5.88377297] [ 0.01198388 0.99983109 -0.01393489 -0.30816123] [ 0.0408101 0.01343523 0.99907659 1.15278002] [ 0. 0. 0. 1. ]] SLAMing on 85.922557844 meters Centerline goodness : 0.118694 with order 2 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 0.99910271 -0.01239436 -0.04049888 -5.88465388] [ 0.01186701 0.99984198 -0.01323602 -0.31194313] [ 0.04065653 0.01274354 0.99909191 1.1537177 ] [ 0. 0. 0. 1. ]] SLAMing on 85.98255784399998 meters Centerline goodness : 0.146820 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.31, Z:1.15 [[ 0.99911335 -0.01223512 -0.0402841 -5.88518078] [ 0.01172223 0.99984752 -0.01294346 -0.31320875] [ 0.04043633 0.01245976 0.99910443 1.15371356] [ 0. 0. 0. 1. ]] SLAMing on 86.04255784399999 meters Centerline goodness : 0.213673 with order 3 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 0.99910372 -0.01217473 -0.04054047 -5.883833 ] [ 0.01165351 0.9998467 -0.01306821 -0.31275309] [ 0.04069335 0.01258405 0.99909243 1.15259106] [ 0. 0. 0. 1. ]] SLAMing on 86.10255784399999 meters Centerline goodness : 0.147641 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 0.99913355 -0.00800463 -0.04084217 -5.8835188 ] [ 0.00764137 0.99992992 -0.00904254 -0.313737 ] [ 0.04091169 0.00872262 0.99912469 1.15295339] [ 0. 0. 0. 1. ]] SLAMing on 86.16255784399999 meters Centerline goodness : 0.203020 with order 3 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 0.99912668 -0.00785521 -0.04103872 -5.88263381] [ 0.00748962 0.99993096 -0.0090546 -0.31372438] [ 0.04110701 0.00873933 0.99911653 1.15225385] [ 0. 0. 0. 1. ]] SLAMing on 86.222557844 meters Centerline goodness : 0.143787 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.31, Z:1.15 [[ 0.99913565 -0.00775837 -0.0408382 -5.88289562] [ 0.0074037 0.99993362 -0.00882887 -0.3148457 ] [ 0.04090399 0.00851889 0.99912676 1.15182572] [ 0. 0. 0. 1. ]] SLAMing on 86.282557844 meters Centerline goodness : 0.138544 with order 2 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.32, Z:1.15 [[ 0.99912664 -0.00770413 -0.04106816 -5.88225132] [ 0.00735381 0.99993533 -0.00867461 -0.31564324] [ 0.04113233 0.00836502 0.99911869 1.15170891] [ 0. 0. 0. 1. ]] SLAMing on 86.342557844 meters Centerline goodness : 0.148713 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.32, Z:1.15 [[ 0.9989495 -0.00905919 -0.04492028 -5.92438217] [ 0.0087007 0.99992878 -0.00816962 -0.32057678] [ 0.04499109 0.0077702 0.99895717 1.15068523] [ 0. 0. 0. 1. ]] SLAMing on 86.40255784399999 meters Centerline goodness : 0.347890 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.32, Z:1.15 [[ 0.99896393 -0.00905976 -0.04459796 -5.9254004 ] [ 0.00871037 0.99992988 -0.00802235 -0.32128684] [ 0.04466751 0.00762558 0.9989728 1.15096588] [ 0. 0. 0. 1. ]] SLAMing on 86.46255784399999 meters Centerline goodness : 0.148050 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.32, Z:1.15 [[ 0.99895592 -0.00914483 -0.04475989 -5.92491388] [ 0.00878786 0.99992805 -0.0081654 -0.32045204] [ 0.04483134 0.00776353 0.9989644 1.15076678] [ 0. 0. 0. 1. ]] SLAMing on 86.52255784399999 meters Centerline goodness : 0.140859 with order 2 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.32, Z:1.15 [[ 9.98966227e-01 -1.95566631e-03 -4.54164351e-02 -5.94317316e+00] [ 1.51683713e-03 9.99951854e-01 -9.69479642e-03 -3.24747295e-01] [ 4.54332083e-02 9.61588486e-03 9.98921097e-01 1.14838584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.582557844 meters Centerline goodness : 0.149095 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.32, Z:1.15 [[ 9.98980600e-01 -2.10443675e-03 -4.50924780e-02 -5.94448182e+00] [ 1.66502489e-03 9.99950788e-01 -9.78002625e-03 -3.24667843e-01] [ 4.51108403e-02 9.69497639e-03 9.98934943e-01 1.14913338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642557844 meters Centerline goodness : 0.123489 with order 3 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.33, Z:1.15 [[ 9.98995343e-01 -2.39072597e-03 -4.47502896e-02 -5.94582927e+00] [ 1.95997786e-03 9.99951353e-01 -9.66699687e-03 -3.25624532e-01] [ 4.47712238e-02 9.56957528e-03 9.98951431e-01 1.14983988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702557844 meters Centerline goodness : 0.124715 with order 3 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.33, Z:1.15 [[ 9.98955066e-01 -2.71264812e-03 -4.56225510e-02 -5.94322260e+00] [ 2.27774309e-03 9.99951498e-01 -9.58196199e-03 -3.26981486e-01] [ 4.56463307e-02 9.46803303e-03 9.98912793e-01 1.14924246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76255784399999 meters Centerline goodness : 0.130516 with order 3 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.33, Z:1.15 [[ 0.99895016 -0.00689301 -0.04528863 -5.94438174] [ 0.00629613 0.99989161 -0.013309 -0.32900026] [ 0.04537546 0.01300989 0.99888528 1.14975336] [ 0. 0. 0. 1. ]] SLAMing on 86.82255784399999 meters Centerline goodness : 0.130989 with order 3 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.33, Z:1.15 [[ 0.99897532 -0.00649787 -0.04478928 -5.94656226] [ 0.00594891 0.99990568 -0.01237906 -0.33273264] [ 0.04486549 0.01209993 0.99891976 1.15118099] [ 0. 0. 0. 1. ]] SLAMing on 86.88255784399999 meters Centerline goodness : 0.120294 with order 2 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.33, Z:1.15 [[ 0.99896996 -0.00651761 -0.04490582 -5.94617039] [ 0.00596017 0.99990365 -0.01253631 -0.3321461 ] [ 0.0449832 0.01225575 0.99891256 1.15108825] [ 0. 0. 0. 1. ]] SLAMing on 86.94255784399999 meters Centerline goodness : 0.141580 with order 2 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.34, Z:1.15 [[ 9.99018427e-01 1.78145822e-03 -4.42606919e-02 -5.96824242e+00] [-2.35863458e-03 9.99912824e-01 -1.29915838e-02 -3.36975212e-01] [ 4.42336895e-02 1.30832265e-02 9.98935538e-01 1.14922667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002557844 meters Centerline goodness : 0.127484 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.34, Z:1.15 [[ 9.99014504e-01 1.88552309e-03 -4.43448518e-02 -5.96828476e+00] [-2.46335428e-03 9.99912730e-01 -1.29793674e-02 -3.37319531e-01] [ 4.43165089e-02 1.30758133e-02 9.98931965e-01 1.14962637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062557844 meters Centerline goodness : 0.347489 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.34, Z:1.15 [[ 9.98998522e-01 1.90959923e-03 -4.47024294e-02 -5.96690435e+00] [-2.49392981e-03 9.99912133e-01 -1.30194436e-02 -3.37245157e-01] [ 4.46736397e-02 1.31178896e-02 9.98915505e-01 1.14884294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12255784399999 meters Centerline goodness : 0.141077 with order 2 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.34, Z:1.15 [[ 9.99016628e-01 2.19242367e-03 -4.42828498e-02 -5.96772628e+00] [-2.76328829e-03 9.99913820e-01 -1.28342287e-02 -3.37366690e-01] [ 4.42508954e-02 1.29439742e-02 9.98936590e-01 1.14840165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18255784399999 meters SLAMing on 87.24255784399999 meters Centerline goodness : 0.125840 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.34, Z:1.15 [[ 9.98998263e-01 2.54837998e-03 -4.46763483e-02 -5.96682371e+00] [-3.09145280e-03 9.99922124e-01 -1.20908374e-02 -3.41158726e-01] [ 4.46420570e-02 1.22168403e-02 9.98928344e-01 1.14853427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30255784399999 meters Centerline goodness : 0.348149 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.34, Z:1.15 [[ 9.98999040e-01 2.80001879e-03 -4.46439113e-02 -5.96746948e+00] [-3.31543953e-03 9.99928660e-01 -1.14752909e-02 -3.44114029e-01] [ 4.46085954e-02 1.16118187e-02 9.98937055e-01 1.14942766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362557844 meters Centerline goodness : 0.150408 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.35, Z:1.15 [[ 9.98883349e-01 6.54028929e-04 -4.72400977e-02 -6.01128954e+00] [-1.17525455e-03 9.99938735e-01 -1.10066101e-02 -3.54307020e-01] [ 4.72300049e-02 1.10498387e-02 9.98822921e-01 1.14792670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422557844 meters Centerline goodness : 0.143856 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.35, Z:1.15 [[ 9.98859683e-01 -4.06720959e-03 -4.75688153e-02 -5.98659502e+00] [ 3.72219058e-03 9.99966139e-01 -7.33938319e-03 -3.53625607e-01] [ 4.75970554e-02 7.15395377e-03 9.98840999e-01 1.14800488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48255784399998 meters Centerline goodness : 0.348666 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.36, Z:1.15 [[ 9.98847759e-01 -3.92018504e-03 -4.78308082e-02 -5.98636667e+00] [ 3.59076807e-03 9.99969255e-01 -6.97111096e-03 -3.55846642e-01] [ 4.78566657e-02 6.79132922e-03 9.98831126e-01 1.14873188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54255784399999 meters Centerline goodness : 0.144441 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.36, Z:1.15 [[ 9.98861184e-01 -3.70044082e-03 -4.75672415e-02 -5.98775467e+00] [ 3.39075295e-03 9.99972540e-01 -6.58957083e-03 -3.57376990e-01] [ 4.75903196e-02 6.42077776e-03 9.98846302e-01 1.14981085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60255784399999 meters Centerline goodness : 0.147622 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.36, Z:1.15 [[ 9.98855915e-01 -3.79489294e-03 -4.76703157e-02 -5.98746292e+00] [ 3.47681335e-03 9.99971150e-01 -6.75363415e-03 -3.56737009e-01] [ 4.76945697e-02 6.58016663e-03 9.98840292e-01 1.14975741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66255784399999 meters Centerline goodness : 0.124922 with order 3 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.35, Z:1.15 [[ 9.99000357e-01 -4.04166171e-03 -4.45191066e-02 -5.94794835e+00] [ 3.67615256e-03 9.99958889e-01 -8.28897646e-03 -3.54248473e-01] [ 4.45507775e-02 8.11703142e-03 9.98974145e-01 1.15245196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722557844 meters Centerline goodness : 0.350367 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.36, Z:1.15 [[ 9.99002867e-01 -4.45363475e-03 -4.44233825e-02 -5.94834370e+00] [ 4.10692371e-03 9.99960417e-01 -7.89291307e-03 -3.57601118e-01] [ 4.44567763e-02 7.70259935e-03 9.98981614e-01 1.15283857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782557844 meters Centerline goodness : 0.356279 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.37, Z:1.15 [[ 0.9988629 -0.00956145 -0.04670632 -5.98249729] [ 0.00911188 0.99991018 -0.0098289 -0.37240695] [ 0.0467961 0.00939214 0.99886031 1.1489256 ] [ 0. 0. 0. 1. ]] SLAMing on 87.842557844 meters Centerline goodness : 0.231852 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.38, Z:1.15 [[ 9.98984485e-01 -1.47924030e-03 -4.50312181e-02 -5.96734102e+00] [ 1.03672842e-03 9.99950964e-01 -9.84854890e-03 -3.84094513e-01] [ 4.50435784e-02 9.79186241e-03 9.98937033e-01 1.15089186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90255784399999 meters Centerline goodness : 0.161425 with order 2 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.39, Z:1.15 [[ 0.99907792 -0.00931652 -0.04191066 -5.94693847] [ 0.00895087 0.9999203 -0.00890371 -0.38560893] [ 0.04199027 0.00852037 0.99908169 1.15168031] [ 0. 0. 0. 1. ]] SLAMing on 87.96255784399999 meters Centerline goodness : 0.134023 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.40, Z:1.15 [[ 9.99154414e-01 -2.56480192e-03 -4.10350982e-02 -5.95530467e+00] [ 2.14759791e-03 9.99945592e-01 -1.02078576e-02 -3.95581104e-01] [ 4.10590467e-02 1.01110991e-02 9.99105560e-01 1.14573465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02255784399999 meters Centerline goodness : 0.200056 with order 3 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.40, Z:1.15 [[ 0.99908672 0.00643284 -0.04224158 -5.93445646] [-0.00691004 0.99991384 -0.01116064 -0.40102058] [ 0.04216614 0.01144234 0.99904509 1.14838322] [ 0. 0. 0. 1. ]] SLAMing on 88.082557844 meters Centerline goodness : 0.137082 with order 3 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.40, Z:1.15 [[ 0.99904044 0.0105682 -0.0425032 -5.93439811] [-0.01089078 0.99991357 -0.00736519 -0.40080208] [ 0.04242169 0.00782102 0.99906918 1.14962113] [ 0. 0. 0. 1. ]] SLAMing on 88.142557844 meters Centerline goodness : 0.190357 with order 3 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.40, Z:1.15 [[ 0.99905775 0.01078282 -0.0420398 -5.93613721] [-0.01108684 0.999914 -0.00700535 -0.40224588] [ 0.04196065 0.00746483 0.99909138 1.15045939] [ 0. 0. 0. 1. ]] SLAMing on 88.202557844 meters Centerline goodness : 0.132575 with order 3 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.41, Z:1.15 [[ 0.99903411 0.01096495 -0.04255145 -5.93491511] [-0.01124625 0.99991642 -0.00637692 -0.40570747] [ 0.04247797 0.0068493 0.99907393 1.15057057] [ 0. 0. 0. 1. ]] SLAMing on 88.26255784399999 meters Centerline goodness : 0.132683 with order 3 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.41, Z:1.15 [[ 9.99062143e-01 2.95078606e-03 -4.31986940e-02 -5.91098984e+00] [-3.18608488e-03 9.99980457e-01 -5.37906067e-03 -4.08620691e-01] [ 4.31819773e-02 5.51165059e-03 9.99052020e-01 1.15142036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32255784399999 meters Centerline goodness : 0.351148 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.41, Z:1.15 [[ 9.99051649e-01 3.14715870e-03 -4.34269374e-02 -5.91062705e+00] [-3.35697039e-03 9.99983040e-01 -4.75929222e-03 -4.11935534e-01] [ 4.34112226e-02 4.90056168e-03 9.99045269e-01 1.15178490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38255784399999 meters Centerline goodness : 0.298893 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.41, Z:1.15 [[ 9.99045858e-01 3.23345890e-03 -4.35536307e-02 -5.91031957e+00] [-3.43399686e-03 9.99983842e-01 -4.53036141e-03 -4.13068531e-01] [ 4.35382782e-02 4.67560184e-03 9.99040819e-01 1.15183022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44255784399999 meters Centerline goodness : 0.127574 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.41, Z:1.15 [[ 9.99080823e-01 -3.59023202e-03 -4.27155680e-02 -5.89169198e+00] [ 3.46440041e-03 9.99989440e-01 -3.01946332e-03 -4.09814876e-01] [ 4.27259575e-02 2.86870407e-03 9.99082711e-01 1.15415876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502557844 meters Centerline goodness : 0.269710 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.41, Z:1.16 [[ 9.99188361e-01 5.29488046e-03 -3.99322307e-02 -5.87458766e+00] [-5.48155924e-03 9.99974548e-01 -4.56684968e-03 -4.14120191e-01] [ 3.99070334e-02 4.78203394e-03 9.99191954e-01 1.15692222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562557844 meters Centerline goodness : 0.179555 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.41, Z:1.16 [[ 9.99185546e-01 5.38271511e-03 -3.99908836e-02 -5.87428844e+00] [-5.56447411e-03 9.99974683e-01 -4.43509254e-03 -4.14751644e-01] [ 3.99659983e-02 4.65400860e-03 9.99190202e-01 1.15671584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62255784399999 meters Centerline goodness : 0.112994 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.42, Z:1.16 [[ 9.99184341e-01 5.44319154e-03 -4.00128126e-02 -5.87421691e+00] [-5.62066261e-03 9.99974854e-01 -4.32419969e-03 -4.15362573e-01] [ 3.99882690e-02 4.54557113e-03 9.99189810e-01 1.15676008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68255784399999 meters Centerline goodness : 0.171479 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.42, Z:1.16 [[ 9.99187370e-01 5.68412139e-03 -3.99035206e-02 -5.87477264e+00] [-5.84155983e-03 9.99975603e-01 -3.82999011e-03 -4.17514628e-01] [ 3.98807770e-02 4.05997655e-03 9.99196197e-01 1.15716219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74255784399999 meters Centerline goodness : 0.269569 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.42, Z:1.16 [[ 9.99189953e-01 5.73930291e-03 -3.98308799e-02 -5.87482136e+00] [-5.89074693e-03 9.99975856e-01 -3.68585382e-03 -4.18225538e-01] [ 3.98087640e-02 3.91750174e-03 9.99199637e-01 1.15696052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80255784399999 meters Centerline goodness : 0.299004 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.42, Z:1.16 [[ 9.99176601e-01 5.67081307e-03 -4.01741402e-02 -5.87338019e+00] [-5.83541854e-03 9.99975049e-01 -3.98121997e-03 -4.16755457e-01] [ 4.01505611e-02 4.21237476e-03 9.99184762e-01 1.15606595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862557844 meters Centerline goodness : 0.133125 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.41, Z:1.16 [[ 9.99197460e-01 5.82877231e-03 -3.96290473e-02 -5.87487530e+00] [-6.00051993e-03 9.99973108e-01 -4.21631918e-03 -4.14438171e-01] [ 3.96034057e-02 4.45073031e-03 9.99205565e-01 1.15616019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922557844 meters Centerline goodness : 0.347143 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.41, Z:1.16 [[ 9.99211346e-01 5.71083095e-03 -3.92946845e-02 -5.87594740e+00] [-5.89713833e-03 9.99971907e-01 -4.62701288e-03 -4.12234606e-01] [ 3.92671565e-02 4.85508995e-03 9.99216953e-01 1.15651883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98255784399998 meters Centerline goodness : 0.209035 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.41, Z:1.15 [[ 9.99149199e-01 4.51024995e-03 -4.09943492e-02 -5.87007168e+00] [-4.76461262e-03 9.99969987e-01 -6.10923952e-03 -4.09087134e-01] [ 4.09655647e-02 6.29936396e-03 9.99140701e-01 1.15444060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04255784399999 meters Centerline goodness : 0.134642 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.41, Z:1.15 [[ 9.99144070e-01 4.41483743e-03 -4.11295131e-02 -5.86977518e+00] [-4.67581262e-03 9.99969529e-01 -6.25116908e-03 -4.08467590e-01] [ 4.11006619e-02 6.43813241e-03 9.99134268e-01 1.15447787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10255784399999 meters Centerline goodness : 0.347073 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.40, Z:1.16 [[ 9.99107139e-01 -2.42889826e-03 -4.21784902e-02 -5.85090771e+00] [ 2.21296312e-03 9.99984210e-01 -5.16549222e-03 -4.03506827e-01] [ 4.21903706e-02 5.06754071e-03 9.99096738e-01 1.15818237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16255784399999 meters Centerline goodness : 0.346747 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.40, Z:1.16 [[ 9.99108593e-01 -2.48281752e-03 -4.21408989e-02 -5.85102450e+00] [ 2.26324179e-03 9.99983618e-01 -5.25742309e-03 -4.03353199e-01] [ 4.21532618e-02 5.15736154e-03 9.99097845e-01 1.15826743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222557844 meters Centerline goodness : 0.163138 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.41, Z:1.16 [[ 9.99122548e-01 7.04851529e-03 -4.12850042e-02 -5.83159386e+00] [-7.27245054e-03 9.99959634e-01 -5.27645702e-03 -4.07951682e-01] [ 4.12461465e-02 5.57207033e-03 9.99133478e-01 1.15903950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282557844 meters Centerline goodness : 0.155535 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.41, Z:1.16 [[ 9.99123766e-01 7.21352549e-03 -4.12270016e-02 -5.83170030e+00] [-7.42460730e-03 9.99960090e-01 -4.96917057e-03 -4.09405998e-01] [ 4.11895110e-02 5.27091071e-03 9.99137449e-01 1.15903684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342557844 meters Centerline goodness : 0.347874 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.41, Z:1.16 [[ 9.99088191e-01 7.44920145e-03 -4.20392126e-02 -5.82904856e+00] [-7.65138285e-03 9.99959914e-01 -4.65050127e-03 -4.10942755e-01] [ 4.20028849e-02 4.96791901e-03 9.99105138e-01 1.15828379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40255784399999 meters Centerline goodness : 0.345427 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.41, Z:1.16 [[ 9.99099488e-01 7.80523038e-03 -4.17048137e-02 -5.83069816e+00] [-7.97004354e-03 9.99961067e-01 -3.78709077e-03 -4.14876859e-01] [ 4.16736309e-02 4.11606963e-03 9.99122798e-01 1.15954969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46255784399999 meters Centerline goodness : 0.156592 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.42, Z:1.16 [[ 9.99099022e-01 7.93927881e-03 -4.16906803e-02 -5.83091652e+00] [-8.09319420e-03 9.99961039e-01 -3.52435894e-03 -4.15848169e-01] [ 4.16610751e-02 3.85859434e-03 9.99124350e-01 1.15983641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52255784399999 meters Centerline goodness : 0.151941 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.41, Z:1.16 [[ 9.99113802e-01 8.59559759e-03 -4.12034800e-02 -5.79152152e+00] [-8.75082557e-03 9.99955272e-01 -3.58847054e-03 -4.13523115e-01] [ 4.11707920e-02 3.94585491e-03 9.99144332e-01 1.16168598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.582557844 meters Centerline goodness : 0.399299 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.41, Z:1.16 [[ 9.98973848e-01 7.54341491e-03 -4.46581220e-02 -5.83494672e+00] [-7.68341379e-03 9.99966089e-01 -2.96408199e-03 -4.14413579e-01] [ 4.46342483e-02 3.30416722e-03 9.98997931e-01 1.16138519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642557844 meters Centerline goodness : 0.341491 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.40, Z:1.16 [[ 9.98936456e-01 1.58174607e-03 -4.60809653e-02 -5.81370150e+00] [-1.64660602e-03 9.99997706e-01 -1.36959683e-03 -4.04666555e-01] [ 4.60786933e-02 1.44401740e-03 9.98936769e-01 1.16303448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702557844 meters Centerline goodness : 0.392454 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.40, Z:1.16 [[ 9.98964125e-01 1.49226658e-03 -4.54802170e-02 -5.81562944e+00] [-1.57424250e-03 9.99997200e-01 -1.76668852e-03 -4.02550682e-01] [ 4.54774533e-02 1.83645534e-03 9.98963677e-01 1.16365773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76255784399999 meters Centerline goodness : 0.157463 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.40, Z:1.17 [[ 9.98894526e-01 3.14649744e-03 -4.69022882e-02 -5.77522103e+00] [-3.21031580e-03 9.99994021e-01 -1.28540112e-03 -3.97300931e-01] [ 4.68979633e-02 1.43455130e-03 9.98898655e-01 1.16547567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82255784399999 meters Centerline goodness : 0.343393 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.39, Z:1.17 [[ 9.98900083e-01 2.91928864e-03 -4.67985156e-02 -5.77563701e+00] [-3.00822801e-03 9.99993801e-01 -1.83015765e-03 -3.94423483e-01] [ 4.67928827e-02 1.96892524e-03 9.98902673e-01 1.16562432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88255784399999 meters Centerline goodness : 0.115859 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.40, Z:1.16 [[ 9.98917170e-01 8.71090181e-03 -4.57012789e-02 -5.79942791e+00] [-8.89460459e-03 9.99953154e-01 -3.81782535e-03 -4.02498249e-01] [ 4.56658813e-02 4.22018610e-03 9.98947855e-01 1.16478296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94255784399999 meters Centerline goodness : 0.130576 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.40, Z:1.16 [[ 9.99030984e-01 1.15515392e-03 -4.39972468e-02 -5.78109998e+00] [-1.21700238e-03 9.99998309e-01 -1.37897526e-03 -3.97835986e-01] [ 4.39955795e-02 1.43118376e-03 9.99030701e-01 1.16453196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002557844 meters Centerline goodness : 0.138804 with order 2 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.40, Z:1.16 [[ 9.99005417e-01 3.43558556e-04 -4.45876511e-02 -5.77944335e+00] [-4.24583234e-04 9.99998276e-01 -1.80774240e-03 -3.99098575e-01] [ 4.45869531e-02 1.82487562e-03 9.99003841e-01 1.16446144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062557844 meters Centerline goodness : 0.346463 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.40, Z:1.17 [[ 9.99099408e-01 2.53759942e-03 -4.23548432e-02 -5.73787883e+00] [-2.60886147e-03 9.99995273e-01 -1.62731154e-03 -3.97082596e-01] [ 4.23505135e-02 1.73634391e-03 9.99101306e-01 1.16697320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12255784399999 meters Centerline goodness : 0.346864 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.40, Z:1.17 [[ 9.99103601e-01 2.54315612e-03 -4.22554981e-02 -5.73770180e+00] [-2.62693855e-03 9.99994692e-01 -1.92735016e-03 -3.95273991e-01] [ 4.22503722e-02 2.03662508e-03 9.99104979e-01 1.16633587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18255784399999 meters Centerline goodness : 0.155139 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.39, Z:1.17 [[ 9.99078749e-01 2.49576847e-03 -4.28418564e-02 -5.73576818e+00] [-2.63254683e-03 9.99991616e-01 -3.13651316e-03 -3.90090484e-01] [ 4.28336692e-02 3.24640684e-03 9.99076943e-01 1.16621711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24255784399999 meters Centerline goodness : 0.153858 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.39, Z:1.17 [[ 9.99068727e-01 6.35956715e-03 -4.26759281e-02 -5.73682004e+00] [-6.36067307e-03 9.99979765e-01 1.09872617e-04 -3.86803831e-01] [ 4.26757633e-02 1.61677331e-04 9.99088962e-01 1.16725975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30255784399999 meters Centerline goodness : 0.345292 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.38, Z:1.17 [[ 9.99073838e-01 6.09382183e-03 -4.25949825e-02 -5.73741978e+00] [-6.12264142e-03 9.99981107e-01 -5.46171475e-04 -3.84318588e-01] [ 4.25908495e-02 8.06459436e-04 9.99092273e-01 1.16794601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362557844 meters Centerline goodness : 0.345109 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.38, Z:1.17 [[ 9.99071061e-01 5.35548350e-03 -4.27590201e-02 -5.73694328e+00] [-5.46093466e-03 9.99982328e-01 -2.34974806e-03 -3.76374043e-01] [ 4.27456804e-02 2.58106950e-03 9.99082652e-01 1.16782278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422557844 meters Centerline goodness : 0.346564 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.37, Z:1.17 [[ 9.99116236e-01 4.89408669e-03 -4.17467894e-02 -5.73961161e+00] [-5.01203667e-03 9.99983737e-01 -2.72116998e-03 -3.74293255e-01] [ 4.17327928e-02 2.92800155e-03 9.99124517e-01 1.16738558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48255784399998 meters Centerline goodness : 0.350021 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.37, Z:1.17 [[ 9.99212576e-01 -4.17848467e-03 -3.94559110e-02 -5.72451932e+00] [ 4.11671953e-03 9.99990171e-01 -1.64653846e-03 -3.66694617e-01] [ 3.94624032e-02 1.48281302e-03 9.99219956e-01 1.16863770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54255784399999 meters Centerline goodness : 0.407001 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.37, Z:1.17 [[ 9.99094952e-01 -7.74136909e-03 -4.18252197e-02 -5.77152947e+00] [ 7.67591587e-03 9.99969051e-01 -1.72529181e-03 -3.69964934e-01] [ 4.18372813e-02 1.40268347e-03 9.99123453e-01 1.16781784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60255784399999 meters Centerline goodness : 0.088648 with order 3 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.37, Z:1.17 [[ 9.99232494e-01 1.25191583e-03 -3.91517037e-02 -5.75409061e+00] [-1.33171999e-03 9.99997089e-01 -2.01231870e-03 -3.73669251e-01] [ 3.91490704e-02 2.06291334e-03 9.99231252e-01 1.16884441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66255784399999 meters Centerline goodness : 0.355498 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.37, Z:1.17 [[ 9.99225136e-01 1.05196061e-03 -3.93448998e-02 -5.75333845e+00] [-1.15942498e-03 9.99995660e-01 -2.70862408e-03 -3.70248905e-01] [ 3.93418797e-02 2.75214272e-03 9.99222018e-01 1.16841789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722557844 meters Centerline goodness : 0.353499 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.37, Z:1.17 [[ 9.99196246e-01 1.17612297e-03 -4.00684217e-02 -5.75102707e+00] [-1.29768746e-03 9.99994634e-01 -3.00804895e-03 -3.68613815e-01] [ 4.00646689e-02 3.05762750e-03 9.99192411e-01 1.16785396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782557844 meters Centerline goodness : 0.359074 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.37, Z:1.17 [[ 9.99161223e-01 1.42092411e-03 -4.09247024e-02 -5.74849394e+00] [-1.54648288e-03 9.99994194e-01 -3.03654907e-03 -3.68285016e-01] [ 4.09201501e-02 3.09729143e-03 9.99157619e-01 1.16754792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842557844 meters Centerline goodness : 0.354629 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.37, Z:1.17 [[ 9.99143235e-01 1.40418565e-03 -4.13621195e-02 -5.74718270e+00] [-1.52729624e-03 9.99994497e-01 -2.94495981e-03 -3.69154486e-01] [ 4.13577566e-02 3.00560888e-03 9.99139881e-01 1.16724306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90255784399999 meters Centerline goodness : 0.353131 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.37, Z:1.17 [[ 9.99146111e-01 1.46424545e-03 -4.12904918e-02 -5.74759298e+00] [-1.57789009e-03 9.99995056e-01 -2.71986430e-03 -3.70342139e-01] [ 4.12863051e-02 2.78269370e-03 9.99143482e-01 1.16759875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96255784399999 meters Centerline goodness : 0.138777 with order 3 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.37, Z:1.17 [[ 9.99170636e-01 1.48696579e-03 -4.06918838e-02 -5.74978084e+00] [-1.59430792e-03 9.99995335e-01 -2.60560083e-03 -3.70676018e-01] [ 4.06878195e-02 2.66831523e-03 9.99168345e-01 1.16856814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02255784399999 meters Centerline goodness : 0.353657 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.37, Z:1.17 [[ 9.99168781e-01 1.54891561e-03 -4.07350887e-02 -5.74969786e+00] [-1.65500234e-03 9.99995326e-01 -2.57071503e-03 -3.70748763e-01] [ 4.07309165e-02 2.63599487e-03 9.99166675e-01 1.16861371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.082557844 meters Centerline goodness : 0.353388 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.37, Z:1.17 [[ 9.99189133e-01 1.38202537e-03 -4.02388786e-02 -5.75141779e+00] [-1.48847106e-03 9.99995472e-01 -2.61550534e-03 -3.70936404e-01] [ 4.02350817e-02 2.67327892e-03 9.99186665e-01 1.16924396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142557844 meters Centerline goodness : 0.349651 with order 1 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.37, Z:1.17 [[ 9.99318346e-01 -5.15079303e-03 -3.65556147e-02 -5.73471094e+00] [ 5.13590725e-03 9.99986686e-01 -5.01102601e-04 -3.67693356e-01] [ 3.65577091e-02 3.13014776e-04 9.99331495e-01 1.17180256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202557844 meters Centerline goodness : 0.134508 with order 3 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.37, Z:1.17 [[ 9.99303527e-01 -5.58589304e-03 -3.68952281e-02 -5.73418419e+00] [ 5.56880284e-03 9.99984334e-01 -5.65959470e-04 -3.69190971e-01] [ 3.68978114e-02 3.60103044e-04 9.99318979e-01 1.17209813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26255784399999 meters SLAMing on 91.32255784399999 meters Centerline goodness : 0.353064 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.37, Z:1.17 [[ 9.99275513e-01 -1.03920685e-03 -3.80443102e-02 -5.78664033e+00] [ 1.07225883e-03 9.99999065e-01 8.48382098e-04 -3.70900942e-01] [ 3.80433930e-02 -8.88560804e-04 9.99275693e-01 1.16760553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38255784399999 meters Centerline goodness : 0.351413 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.37, Z:1.17 [[ 9.99270188e-01 -1.14317063e-03 -3.81809552e-02 -5.78624283e+00] [ 1.16437550e-03 9.99999180e-01 5.33146188e-04 -3.69419803e-01] [ 3.81803144e-02 -5.77214060e-04 9.99270699e-01 1.16749816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44255784399999 meters Centerline goodness : 0.348372 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.37, Z:1.17 [[ 9.99255306e-01 -1.06360877e-03 -3.85707504e-02 -5.78498132e+00] [ 1.07774621e-03 9.99999359e-01 3.45742163e-04 -3.68562308e-01] [ 3.85703580e-02 -3.87054171e-04 9.99255812e-01 1.16725363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502557844 meters Centerline goodness : 0.127276 with order 2 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.37, Z:1.17 [[ 9.99247322e-01 -1.09110645e-03 -3.87762799e-02 -5.78410888e+00] [ 1.09579789e-03 9.99999395e-01 9.97340891e-05 -3.67347329e-01] [ 3.87761476e-02 -1.42149987e-04 9.99247912e-01 1.16660973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.562557844 meters Centerline goodness : 0.346766 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.37, Z:1.17 [[ 9.99251564e-01 -1.03992359e-03 -3.86682197e-02 -5.78408329e+00] [ 1.04339201e-03 9.99999453e-01 6.95164260e-05 -3.66749638e-01] [ 3.86681263e-02 -1.09810509e-04 9.99252102e-01 1.16606291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62255784399999 meters Centerline goodness : 0.345440 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.37, Z:1.17 [[ 9.99257948e-01 -9.43861989e-04 -3.85053643e-02 -5.78470583e+00] [ 9.60256357e-04 9.99999456e-01 4.07276266e-04 -3.68612816e-01] [ 3.85049589e-02 -4.43949067e-04 9.99258310e-01 1.16649138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68255784399999 meters Centerline goodness : 0.346858 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.37, Z:1.17 [[ 9.99310578e-01 7.95582469e-03 -3.62639335e-02 -5.76563941e+00] [-7.98269572e-03 9.99967960e-01 -5.96253533e-04 -3.71285850e-01] [ 3.62580279e-02 8.85326409e-04 9.99342069e-01 1.16746808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74255784399999 meters Centerline goodness : 0.350151 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.37, Z:1.17 [[ 9.99246202e-01 7.50304678e-03 -3.80884647e-02 -5.81195145e+00] [-7.49794093e-03 9.99971852e-01 2.76896990e-04 -3.73377777e-01] [ 3.80894701e-02 8.89679292e-06 9.99274333e-01 1.16767514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80255784399999 meters Centerline goodness : 0.133527 with order 3 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.37, Z:1.17 [[ 9.99312308e-01 9.09301555e-03 -3.59475827e-02 -5.76710816e+00] [-9.10404756e-03 9.99958547e-01 -1.43212983e-04 -3.67097551e-01] [ 3.59447903e-02 4.70382999e-04 9.99353667e-01 1.16768838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862557844 meters Centerline goodness : 0.349831 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.36, Z:1.17 [[ 9.99317516e-01 8.82133395e-03 -3.58704051e-02 -5.76715945e+00] [-8.85812505e-03 9.99960390e-01 -8.66870109e-04 -3.63554032e-01] [ 3.58613373e-02 1.18402302e-03 9.99356074e-01 1.16735917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922557844 meters Centerline goodness : 0.150436 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.36, Z:1.17 [[ 9.99320611e-01 8.51550341e-03 -3.58580941e-02 -5.76731818e+00] [-8.57391625e-03 9.99962155e-01 -1.47554106e-03 -3.61086090e-01] [ 3.58441720e-02 1.78198289e-03 9.99355802e-01 1.16748094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98255784399998 meters Centerline goodness : 0.346345 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.36, Z:1.17 [[ 9.99316227e-01 8.35453340e-03 -3.60177803e-02 -5.76649828e+00] [-8.42762450e-03 9.99962724e-01 -1.87795988e-03 -3.58919082e-01] [ 3.60007483e-02 2.18022011e-03 9.99349385e-01 1.16665680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04255784399999 meters Centerline goodness : 0.339092 with order 2 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.36, Z:1.17 [[ 9.99343822e-01 8.25591398e-03 -3.52670711e-02 -5.76932488e+00] [-8.32478348e-03 9.99963717e-01 -1.80640194e-03 -3.59217731e-01] [ 3.52508780e-02 2.09880735e-03 9.99376291e-01 1.16786100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10255784399999 meters Centerline goodness : 0.303905 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.36, Z:1.17 [[ 9.99416557e-01 5.73774670e-03 -3.36693438e-02 -5.77473452e+00] [-5.86899601e-03 9.99975555e-01 -3.80064861e-03 -3.62603520e-01] [ 3.36467136e-02 3.99603639e-03 9.99425800e-01 1.16902514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16255784399999 meters Centerline goodness : 0.344846 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.36, Z:1.17 [[ 9.99468292e-01 -2.38779395e-03 -3.25181814e-02 -5.75583901e+00] [ 2.30131809e-03 9.99993716e-01 -2.69647560e-03 -3.57155064e-01] [ 3.25244157e-02 2.62020718e-03 9.99467507e-01 1.16921527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222557844 meters Centerline goodness : 0.316533 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.36, Z:1.17 [[ 9.99470538e-01 -2.39207338e-03 -3.24487629e-02 -5.75591217e+00] [ 2.30396383e-03 9.99993558e-01 -2.75246248e-03 -3.56789170e-01] [ 3.24551379e-02 2.67624438e-03 9.99469610e-01 1.16903637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.282557844 meters Centerline goodness : 0.346663 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.35, Z:1.17 [[ 9.99427452e-01 -2.38189355e-03 -3.37504661e-02 -5.75188471e+00] [ 2.27643889e-03 9.99992408e-01 -3.16262142e-03 -3.54688023e-01] [ 3.37577429e-02 3.08397979e-03 9.99425287e-01 1.16761340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342557844 meters Centerline goodness : 0.327783 with order 2 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.35, Z:1.17 [[ 9.99429572e-01 -2.32202754e-03 -3.36918067e-02 -5.75150647e+00] [ 2.20697911e-03 9.99991608e-01 -3.45151780e-03 -3.52594624e-01] [ 3.36995385e-02 3.37519184e-03 9.99426310e-01 1.16664361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40255784399999 meters Centerline goodness : 0.126921 with order 3 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.35, Z:1.17 [[ 9.99498582e-01 6.38343896e-03 -3.10134921e-02 -5.73358482e+00] [-6.55441400e-03 9.99963861e-01 -5.41439283e-03 -3.51666095e-01] [ 3.09778088e-02 5.61495322e-03 9.99504301e-01 1.16850072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46255784399999 meters Centerline goodness : 0.330912 with order 1 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.35, Z:1.17 [[ 9.99504782e-01 6.33123440e-03 -3.08237968e-02 -5.73368685e+00] [-6.50954667e-03 9.99962636e-01 -5.68798162e-03 -3.49745727e-01] [ 3.07866332e-02 5.88581377e-03 9.99508649e-01 1.16778502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52255784399999 meters Centerline goodness : 0.333196 with order 1 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.35, Z:1.17 [[ 9.99508754e-01 6.32678470e-03 -3.06956539e-02 -5.73304321e+00] [-6.50450411e-03 9.99962638e-01 -5.69332984e-03 -3.49177514e-01] [ 3.06584866e-02 5.89019302e-03 9.99512563e-01 1.16610834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.582557844 meters Centerline goodness : 0.348644 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.35, Z:1.17 [[ 0.99947129 0.01141163 -0.03044516 -5.75630396] [-0.01170649 0.99988612 -0.00952431 -0.35261811] [ 0.03033301 0.00987568 0.99949106 1.16600486] [ 0. 0. 0. 1. ]] SLAMing on 92.642557844 meters Centerline goodness : 0.349815 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.34, Z:1.17 [[ 9.99541707e-01 5.01683261e-03 -2.98531059e-02 -5.74016488e+00] [-5.22538269e-03 9.99962459e-01 -6.91196635e-03 -3.43228195e-01] [ 2.98173091e-02 7.06479255e-03 9.99530398e-01 1.16836368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702557844 meters Centerline goodness : 0.350088 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.34, Z:1.17 [[ 9.99551547e-01 4.91729953e-03 -2.95385398e-02 -5.74110665e+00] [-5.13085867e-03 9.99961215e-01 -7.15840762e-03 -3.42086771e-01] [ 2.95021941e-02 7.30675548e-03 9.99538009e-01 1.16860471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76255784399999 meters Centerline goodness : 0.362296 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.34, Z:1.17 [[ 9.99558248e-01 4.79178175e-03 -2.93316689e-02 -5.74147617e+00] [-5.01318495e-03 9.99959463e-01 -7.47938541e-03 -3.40525877e-01] [ 2.92946403e-02 7.62312647e-03 9.99541751e-01 1.16831421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82255784399999 meters Centerline goodness : 0.347265 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.34, Z:1.17 [[ 9.99554357e-01 4.66031903e-03 -2.94850512e-02 -5.74075490e+00] [-4.88869561e-03 9.99958572e-01 -7.67816317e-03 -3.39748928e-01] [ 2.94480471e-02 7.81888489e-03 9.99535731e-01 1.16770394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88255784399999 meters Centerline goodness : 0.345731 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.34, Z:1.17 [[ 9.99567033e-01 -3.10982090e-03 -2.92587845e-02 -5.76607724e+00] [ 2.95622561e-03 9.99981631e-01 -5.29133780e-03 -3.38312599e-01] [ 2.92747022e-02 5.20255125e-03 9.99557865e-01 1.16897880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94255784399999 meters Centerline goodness : 0.117528 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.34, Z:1.17 [[ 9.99637037e-01 -2.83190367e-03 -2.67913305e-02 -5.72444018e+00] [ 2.66061607e-03 9.99975808e-01 -6.42688476e-03 -3.35470566e-01] [ 2.68088827e-02 6.35327059e-03 9.99620388e-01 1.17033853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002557844 meters Centerline goodness : 0.379727 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.34, Z:1.17 [[ 9.99568371e-01 5.37185043e-03 -2.88827710e-02 -5.74464714e+00] [-5.56313777e-03 9.99963096e-01 -6.54661450e-03 -3.41159545e-01] [ 2.88465377e-02 6.70446762e-03 9.99561367e-01 1.16903768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062557844 meters Centerline goodness : 0.152838 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.34, Z:1.17 [[ 9.99564703e-01 5.33733782e-03 -2.90158160e-02 -5.74421017e+00] [-5.53469233e-03 9.99962066e-01 -6.72556453e-03 -3.40275974e-01] [ 2.89788187e-02 6.88323052e-03 9.99556326e-01 1.16885830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12255784399999 meters Centerline goodness : 0.345341 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.34, Z:1.17 [[ 9.99567179e-01 5.08058798e-03 -2.89765773e-02 -5.74454784e+00] [-5.29349090e-03 9.99959523e-01 -7.27544314e-03 -3.38008348e-01] [ 2.89384409e-02 7.42568143e-03 9.99553613e-01 1.16920635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18255784399999 meters Centerline goodness : 0.127863 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.34, Z:1.17 [[ 9.99571244e-01 5.02954971e-03 -2.88449650e-02 -5.74405559e+00] [-5.24244783e-03 9.99959540e-01 -7.30990232e-03 -3.37535092e-01] [ 2.88070324e-02 7.45798638e-03 9.99557169e-01 1.16773869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24255784399999 meters Centerline goodness : 0.151575 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.34, Z:1.17 [[ 9.99585901e-01 1.13159412e-03 -2.87531844e-02 -5.74392129e+00] [-1.45397726e-03 9.99936292e-01 -1.11936524e-02 -3.37148750e-01] [ 2.87386859e-02 1.12308236e-02 9.99523865e-01 1.16697429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30255784399999 meters Centerline goodness : 0.350150 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.34, Z:1.17 [[ 9.99495715e-01 -1.37993717e-03 -3.17239824e-02 -5.78493545e+00] [ 1.03240183e-03 9.99939309e-01 -1.09687430e-02 -3.42271988e-01] [ 3.17371932e-02 1.09304597e-02 9.99436479e-01 1.16517392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362557844 meters Centerline goodness : 0.133979 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.34, Z:1.17 [[ 0.99943984 -0.00930577 -0.03214673 -5.76310324] [ 0.00897051 0.99990403 -0.01055753 -0.33668754] [ 0.03224189 0.01026324 0.9994274 1.16615184] [ 0. 0. 0. 1. ]] SLAMing on 93.422557844 meters Centerline goodness : 0.222149 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.34, Z:1.17 [[ 9.99524959e-01 -1.38266921e-03 -3.07887098e-02 -5.78554224e+00] [ 1.05343174e-03 9.99942122e-01 -1.07071023e-02 -3.40988416e-01] [ 3.08017322e-02 1.06695822e-02 9.99468565e-01 1.16566395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48255784399998 meters Centerline goodness : 0.154624 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.34, Z:1.17 [[ 9.99563077e-01 -1.31115095e-03 -2.95285642e-02 -5.78932625e+00] [ 9.86576209e-04 9.99938970e-01 -1.10037786e-02 -3.38750716e-01] [ 2.95411897e-02 1.09698386e-02 9.99503367e-01 1.16676895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54255784399999 meters Centerline goodness : 0.170450 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.34, Z:1.17 [[ 9.99552829e-01 -1.53226410e-03 -2.98629090e-02 -5.78795632e+00] [ 1.18840542e-03 9.99932834e-01 -1.15289232e-02 -3.36564919e-01] [ 2.98785685e-02 1.14882785e-02 9.99487514e-01 1.16583009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60255784399999 meters Centerline goodness : 0.134361 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.34, Z:1.17 [[ 9.99547020e-01 -1.60152209e-03 -3.00531108e-02 -5.78726567e+00] [ 1.25297351e-03 9.99931782e-01 -1.16130043e-02 -3.36090873e-01] [ 3.00696592e-02 1.15700881e-02 9.99480840e-01 1.16535689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66255784399999 meters Centerline goodness : 0.130334 with order 3 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.33, Z:1.17 [[ 0.99950424 -0.00975368 -0.02993573 -5.76603526] [ 0.00943701 0.99989821 -0.01070125 -0.33427636] [ 0.03003706 0.01041344 0.99949454 1.16684703] [ 0. 0. 0. 1. ]] SLAMing on 93.722557844 meters Centerline goodness : 0.131293 with order 3 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.34, Z:1.17 [[ 0.9994587 -0.01369375 -0.02991304 -5.76582345] [ 0.01327966 0.99981383 -0.01399814 -0.33836786] [ 0.03009916 0.01359332 0.99945448 1.16673215] [ 0. 0. 0. 1. ]] SLAMing on 93.782557844 meters Centerline goodness : 0.375691 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.35, Z:1.17 [[ 9.99554645e-01 -5.65657732e-03 -2.93004296e-02 -5.78667839e+00] [ 5.25903873e-03 9.99893318e-01 -1.36270108e-02 -3.48492403e-01] [ 2.93743860e-02 1.34668499e-02 9.99477758e-01 1.16551604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842557844 meters Centerline goodness : 0.153595 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.35, Z:1.16 [[ 9.99566636e-01 -1.86611398e-03 -2.93778391e-02 -5.78541922e+00] [ 1.57611981e-03 9.99949838e-01 -9.89125168e-03 -3.54199023e-01] [ 2.93948237e-02 9.84066217e-03 9.99519437e-01 1.16434543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90255784399999 meters Centerline goodness : 0.163466 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.35, Z:1.16 [[ 9.99582562e-01 -1.11539346e-03 -2.88696554e-02 -5.78661913e+00] [ 8.38658040e-04 9.99953605e-01 -9.59601894e-03 -3.53798136e-01] [ 2.88790193e-02 9.56780143e-03 9.99537123e-01 1.16401984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96255784399999 meters Centerline goodness : 0.150227 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.35, Z:1.16 [[ 9.99586692e-01 3.21747989e-03 -2.85673507e-02 -5.78746305e+00] [-3.38316728e-03 9.99977726e-01 -5.75344791e-03 -3.51770270e-01] [ 2.85482028e-02 5.84771808e-03 9.99575312e-01 1.16414606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02255784399999 meters Centerline goodness : 0.142336 with order 2 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.35, Z:1.16 [[ 9.99570015e-01 3.09607115e-03 -2.91581629e-02 -5.78606871e+00] [-3.29208723e-03 9.99972290e-01 -6.67690630e-03 -3.47260447e-01] [ 2.91366827e-02 6.77002655e-03 9.99552510e-01 1.16394813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.082557844 meters Centerline goodness : 0.184458 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.34, Z:1.16 [[ 9.99529822e-01 -5.89519530e-03 -3.00895730e-02 -5.80558727e+00] [ 5.74143367e-03 9.99970029e-01 -5.19397331e-03 -3.44452368e-01] [ 3.01192907e-02 5.01877393e-03 9.99533711e-01 1.16179806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142557844 meters Centerline goodness : 0.150276 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.34, Z:1.16 [[ 9.99531722e-01 -1.57867664e-02 -2.62128698e-02 -5.78859746e+00] [ 1.56501234e-02 9.99862894e-01 -5.40982731e-03 -3.44687045e-01] [ 2.62946796e-02 4.99705936e-03 9.99641745e-01 1.16359993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202557844 meters Centerline goodness : 0.125578 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.35, Z:1.16 [[ 9.99521131e-01 -1.65293243e-02 -2.61589417e-02 -5.78882494e+00] [ 1.63933144e-02 9.99851010e-01 -5.40531951e-03 -3.47118962e-01] [ 2.62443906e-02 4.97389931e-03 9.99643182e-01 1.16402373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26255784399999 meters Centerline goodness : 0.132351 with order 3 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.36, Z:1.16 [[ 0.9996069 -0.00919965 -0.02648409 -5.8034193 ] [ 0.00901867 0.99993521 -0.00694484 -0.35735263] [ 0.02654627 0.00670326 0.99962511 1.16061928] [ 0. 0. 0. 1. ]] SLAMing on 94.32255784399999 meters Centerline goodness : 0.149694 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.36, Z:1.16 [[ 9.99603545e-01 -1.57031984e-03 -2.81120330e-02 -5.82178631e+00] [ 1.34056289e-03 9.99965564e-01 -8.18988579e-03 -3.61456535e-01] [ 2.81239256e-02 8.14895292e-03 9.99571228e-01 1.15836847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38255784399999 meters Centerline goodness : 0.139346 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.36, Z:1.16 [[ 9.99619047e-01 -1.51151723e-03 -2.75585910e-02 -5.82408642e+00] [ 1.28266278e-03 9.99964565e-01 -8.32007425e-03 -3.60429803e-01] [ 2.75701904e-02 8.28155632e-03 9.99585564e-01 1.15989386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44255784399999 meters Centerline goodness : 0.126602 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.36, Z:1.16 [[ 9.99632839e-01 -1.51833902e-03 -2.70533248e-02 -5.82588463e+00] [ 1.28790943e-03 9.99962764e-01 -8.53299642e-03 -3.59129370e-01] [ 2.70652734e-02 8.49502120e-03 9.99597572e-01 1.16073645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502557844 meters Centerline goodness : 0.124530 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.36, Z:1.16 [[ 9.99632747e-01 -1.58677704e-03 -2.70527971e-02 -5.82490734e+00] [ 1.34826578e-03 9.99960084e-01 -8.83247231e-03 -3.57586342e-01] [ 2.70657324e-02 8.79275420e-03 9.99594985e-01 1.15909538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562557844 meters Centerline goodness : 0.099235 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.36, Z:1.16 [[ 9.99633125e-01 -1.53229710e-03 -2.70419514e-02 -5.82515100e+00] [ 1.29733316e-03 9.99961276e-01 -8.70427431e-03 -3.58253423e-01] [ 2.70542418e-02 8.66599851e-03 9.99596403e-01 1.15942338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62255784399999 meters Centerline goodness : 0.122290 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.37, Z:1.16 [[ 9.99671835e-01 5.23202107e-03 -2.50768530e-02 -5.84464758e+00] [-5.46392500e-03 9.99942860e-01 -9.18814693e-03 -3.66506145e-01] [ 2.50273475e-02 9.32214975e-03 9.99643301e-01 1.15710568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68255784399999 meters Centerline goodness : 0.217572 with order 3 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.37, Z:1.16 [[ 9.99664151e-01 5.34147056e-03 -2.53585100e-02 -5.84304543e+00] [-5.57355272e-03 9.99943150e-01 -9.09020084e-03 -3.66642459e-01] [ 2.53085133e-02 9.22848490e-03 9.99637091e-01 1.15582708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74255784399999 meters Centerline goodness : 0.150779 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.37, Z:1.15 [[ 0.99961854 0.00616988 -0.02692041 -5.83777996] [-0.00640938 0.99994057 -0.00881915 -0.36569003] [ 0.0268644 0.00898833 0.99959868 1.15402691] [ 0. 0. 0. 1. ]] SLAMing on 94.80255784399999 meters Centerline goodness : 0.210950 with order 2 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.36, Z:1.15 [[ 0.99958116 0.00657121 -0.02818392 -5.83354227] [-0.00682346 0.99993744 -0.0088634 -0.36456401] [ 0.02812391 0.009052 0.99956346 1.15258786] [ 0. 0. 0. 1. ]] SLAMing on 94.862557844 meters SLAMing on 94.922557844 meters Centerline goodness : 0.314895 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.37, Z:1.15 [[ 9.99494338e-01 3.06796583e-03 -3.16489527e-02 -5.87519081e+00] [-3.39071469e-03 9.99942747e-01 -1.01491495e-02 -3.72203798e-01] [ 3.16160035e-02 1.02513300e-02 9.99447517e-01 1.15193922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98255784399998 meters Centerline goodness : 0.099084 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.37, Z:1.15 [[ 9.99572871e-01 -5.11235689e-03 -2.87739516e-02 -5.85614926e+00] [ 4.85440903e-03 9.99947469e-01 -9.02735796e-03 -3.70136434e-01] [ 2.88185911e-02 8.88382158e-03 9.99545180e-01 1.15261037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04255784399999 meters Centerline goodness : 0.136665 with order 3 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.37, Z:1.15 [[ 9.99569658e-01 -4.88540076e-03 -2.89245733e-02 -5.85612144e+00] [ 4.63933396e-03 9.99952530e-01 -8.56819532e-03 -3.71942122e-01] [ 2.89650593e-02 8.43031731e-03 9.99544874e-01 1.15320604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10255784399999 meters Centerline goodness : 0.331215 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.38, Z:1.15 [[ 9.99637543e-01 3.19120404e-04 -2.69198861e-02 -5.88184199e+00] [-6.14427642e-04 9.99939723e-01 -1.09622964e-02 -3.78366987e-01] [ 2.69147652e-02 1.09748633e-02 9.99577485e-01 1.15392678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16255784399999 meters Centerline goodness : 0.345486 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.38, Z:1.15 [[ 9.99645378e-01 5.58731480e-04 -2.66234155e-02 -5.88274654e+00] [-8.42532104e-04 9.99942934e-01 -1.06497879e-02 -3.79338138e-01] [ 2.66159458e-02 1.06684423e-02 9.99588803e-01 1.15420608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222557844 meters Centerline goodness : 0.146509 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.38, Z:1.16 [[ 9.99667513e-01 1.15627321e-03 -2.57590168e-02 -5.88552435e+00] [-1.41553085e-03 9.99948508e-01 -1.00487736e-02 -3.81492154e-01] [ 2.57460713e-02 1.00818952e-02 9.99617675e-01 1.15522673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282557844 meters Centerline goodness : 0.141715 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.38, Z:1.15 [[ 9.99659740e-01 1.74287493e-03 -2.60262532e-02 -5.88434789e+00] [-1.99649862e-03 9.99950746e-01 -9.72211426e-03 -3.81592674e-01] [ 2.60080269e-02 9.77076759e-03 9.99613983e-01 1.15424705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342557844 meters Centerline goodness : 0.354644 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.38, Z:1.15 [[ 9.99649879e-01 2.01821253e-03 -2.63827023e-02 -5.88303822e+00] [-2.27331023e-03 9.99950924e-01 -9.64271224e-03 -3.81418553e-01] [ 2.63619465e-02 9.69931219e-03 9.99605408e-01 1.15346995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40255784399999 meters Centerline goodness : 0.134231 with order 3 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.38, Z:1.15 [[ 9.99645479e-01 2.13341717e-03 -2.65398821e-02 -5.88276767e+00] [-2.38279056e-03 9.99953279e-01 -9.36810154e-03 -3.82696987e-01] [ 2.65186561e-02 9.42801933e-03 9.99603858e-01 1.15361157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46255784399999 meters Centerline goodness : 0.147590 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.38, Z:1.15 [[ 9.99671035e-01 -2.29838713e-03 -2.55448370e-02 -5.86015140e+00] [ 2.15540149e-03 9.99981865e-01 -5.62356339e-03 -3.78285821e-01] [ 2.55572989e-02 5.56665406e-03 9.99657860e-01 1.15329758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52255784399999 meters Centerline goodness : 0.113644 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.38, Z:1.15 [[ 9.99578230e-01 -3.36680632e-03 -2.88448905e-02 -5.90646989e+00] [ 3.21404143e-03 9.99980573e-01 -5.34080974e-03 -3.79937322e-01] [ 2.88623116e-02 5.24584847e-03 9.99569631e-01 1.15409439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.582557844 meters Centerline goodness : 0.139986 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.38, Z:1.15 [[ 9.99551611e-01 -3.82741261e-03 -2.96972838e-02 -5.90406330e+00] [ 3.65212464e-03 9.99975603e-01 -5.95448952e-03 -3.77855054e-01] [ 2.97193495e-02 5.84336141e-03 9.99541202e-01 1.15355939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642557844 meters Centerline goodness : 0.181454 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.38, Z:1.15 [[ 9.99622084e-01 -4.56598406e-03 -2.71079641e-02 -5.86041382e+00] [ 4.36895911e-03 9.99963643e-01 -7.32294193e-03 -3.75473889e-01] [ 2.71404150e-02 7.20174088e-03 9.99605689e-01 1.15351025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702557844 meters Centerline goodness : 0.127272 with order 3 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.38, Z:1.15 [[ 0.99948398 -0.00934063 -0.0307332 -5.90131954] [ 0.00907232 0.99991961 -0.00885788 -0.38343481] [ 0.03081347 0.00857449 0.99948837 1.15271088] [ 0. 0. 0. 1. ]] SLAMing on 95.76255784399999 meters Centerline goodness : 0.129232 with order 3 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.39, Z:1.15 [[ 9.99522876e-01 -4.91565859e-03 -3.04935571e-02 -5.92270818e+00] [ 4.54449615e-03 9.99914893e-01 -1.22292183e-02 -3.89250386e-01] [ 3.05510766e-02 1.20848056e-02 9.99460149e-01 1.15154753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82255784399999 meters Centerline goodness : 0.138444 with order 3 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.39, Z:1.15 [[ 9.99526934e-01 -4.68045221e-03 -3.03974033e-02 -5.92278844e+00] [ 4.32043942e-03 9.99919877e-01 -1.18984384e-02 -3.90384827e-01] [ 3.04506578e-02 1.17614795e-02 9.99467071e-01 1.15132776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88255784399999 meters Centerline goodness : 0.140716 with order 3 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.39, Z:1.15 [[ 9.99533682e-01 3.85386406e-03 -3.02913700e-02 -5.94489906e+00] [-4.22196839e-03 9.99917909e-01 -1.20975684e-02 -3.94403037e-01] [ 3.02422610e-02 1.22198163e-02 9.99467899e-01 1.15055242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94255784399999 meters Centerline goodness : 0.138278 with order 3 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.39, Z:1.15 [[ 9.99510088e-01 -1.60172787e-03 -3.12573081e-02 -5.92489525e+00] [ 1.27932340e-03 9.99945807e-01 -1.03318053e-02 -3.85815586e-01] [ 3.12721629e-02 1.02867554e-02 9.99457970e-01 1.15206143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002557844 meters Centerline goodness : 0.344419 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.39, Z:1.15 [[ 9.99421101e-01 -2.71152046e-03 -3.39132889e-02 -5.97106299e+00] [ 2.38325101e-03 9.99949955e-01 -9.71635088e-03 -3.89569440e-01] [ 3.39379378e-02 9.62990221e-03 9.99377547e-01 1.15281768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062557844 meters Centerline goodness : 0.353352 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.39, Z:1.16 [[ 9.99507694e-01 -1.44238628e-03 -3.13414776e-02 -5.93052981e+00] [ 1.11404951e-03 9.99944347e-01 -1.04910483e-02 -3.86955592e-01] [ 3.13548655e-02 1.04509675e-02 9.99453676e-01 1.15527918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12255784399999 meters Centerline goodness : 0.125607 with order 3 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.39, Z:1.16 [[ 9.99506806e-01 -1.26590237e-03 -3.13774122e-02 -5.93056612e+00] [ 9.49322317e-04 9.99948520e-01 -1.01022700e-02 -3.88724289e-01] [ 3.13885853e-02 1.00675003e-02 9.99456553e-01 1.15546644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18255784399999 meters Centerline goodness : 0.124030 with order 3 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.39, Z:1.16 [[ 9.99518857e-01 -9.15741827e-04 -3.10034877e-02 -5.93221878e+00] [ 6.20085947e-04 9.99954258e-01 -9.54448559e-03 -3.90706082e-01] [ 3.10108099e-02 9.52066850e-03 9.99473705e-01 1.15659336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24255784399999 meters Centerline goodness : 0.329304 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.39, Z:1.16 [[ 9.99508200e-01 -8.47764610e-04 -3.13470876e-02 -5.93121303e+00] [ 5.53510700e-04 9.99955718e-01 -9.39444806e-03 -3.91701759e-01] [ 3.13536638e-02 9.37247692e-03 9.99464409e-01 1.15638389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30255784399999 meters Centerline goodness : 0.330685 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.39, Z:1.16 [[ 9.99510350e-01 -6.55205443e-04 -3.12830676e-02 -5.93128853e+00] [ 3.68057054e-04 9.99957759e-01 -9.18391174e-03 -3.92132003e-01] [ 3.12877635e-02 9.16790088e-03 9.99468371e-01 1.15620495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362557844 meters Centerline goodness : 0.124059 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.40, Z:1.16 [[ 9.99435105e-01 -2.70318131e-03 -3.34987133e-02 -5.97920441e+00] [ 2.39780773e-03 9.99955237e-01 -9.15280207e-03 -3.99306370e-01] [ 3.35219555e-02 9.06730823e-03 9.99396849e-01 1.15797422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422557844 meters Centerline goodness : 0.126122 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.40, Z:1.16 [[ 0.99939155 -0.01030429 -0.03332181 -5.9577992 ] [ 0.01004876 0.99991888 -0.00782707 -0.39853367] [ 0.03339976 0.00748746 0.99941403 1.1593483 ] [ 0. 0. 0. 1. ]] SLAMing on 96.48255784399998 meters Centerline goodness : 0.345140 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.41, Z:1.16 [[ 9.99306096e-01 -3.65114014e-03 -3.70674451e-02 -5.97337776e+00] [ 3.31681312e-03 9.99953303e-01 -9.07691546e-03 -4.08678482e-01] [ 3.70988553e-02 8.94767117e-03 9.99271542e-01 1.15580461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54255784399999 meters Centerline goodness : 0.349502 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.41, Z:1.16 [[ 9.99279684e-01 -3.49314573e-03 -3.77876998e-02 -5.97177080e+00] [ 3.17090134e-03 9.99958126e-01 -8.58433218e-03 -4.11674018e-01] [ 3.78161038e-02 8.45832768e-03 9.99248917e-01 1.15616335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60255784399999 meters Centerline goodness : 0.126460 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.41, Z:1.16 [[ 9.99274472e-01 -3.35455181e-03 -3.79378119e-02 -5.97129834e+00] [ 3.03615361e-03 9.99959713e-01 -8.44713644e-03 -4.11737744e-01] [ 3.79646199e-02 8.32582278e-03 9.99244399e-01 1.15603618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66255784399999 meters Centerline goodness : 0.322567 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.41, Z:1.16 [[ 9.99272206e-01 -3.48463606e-03 -3.79857262e-02 -5.97109728e+00] [ 3.15672744e-03 9.99957267e-01 -8.68897835e-03 -4.11224257e-01] [ 3.80143809e-02 8.56274398e-03 9.99240505e-01 1.15594119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722557844 meters Centerline goodness : 0.323338 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.41, Z:1.16 [[ 9.99319404e-01 -1.96509543e-03 -3.68356712e-02 -5.97665865e+00] [ 1.69848643e-03 9.99972148e-01 -7.26769016e-03 -4.10888700e-01] [ 3.68489269e-02 7.20017891e-03 9.99294908e-01 1.15871451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782557844 meters Centerline goodness : 0.352865 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.41, Z:1.16 [[ 9.99315760e-01 1.95425196e-03 -3.69349903e-02 -5.97658677e+00] [-2.09578212e-03 9.99990608e-01 -3.79354359e-03 -4.08596138e-01] [ 3.69272299e-02 3.86835559e-03 9.99310470e-01 1.15895871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842557844 meters Centerline goodness : 0.351371 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.41, Z:1.16 [[ 9.99324373e-01 1.83094569e-03 -3.67075654e-02 -5.97750306e+00] [-1.98543319e-03 9.99989324e-01 -4.17259026e-03 -4.06526685e-01] [ 3.66995338e-02 4.24265156e-03 9.99317339e-01 1.15940069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90255784399999 meters Centerline goodness : 0.333895 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.41, Z:1.16 [[ 9.99334231e-01 1.81050212e-03 -3.64392163e-02 -5.97810498e+00] [-1.96593705e-03 9.99989120e-01 -4.23021625e-03 -4.05951710e-01] [ 3.64311610e-02 4.29903711e-03 9.99326918e-01 1.15927284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96255784399999 meters Centerline goodness : 0.130083 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.41, Z:1.16 [[ 9.99355317e-01 1.82954486e-03 -3.58553200e-02 -5.97992405e+00] [-1.97537484e-03 9.99989920e-01 -4.03217534e-03 -4.07252552e-01] [ 3.58475815e-02 4.10040356e-03 9.99348857e-01 1.15980931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02255784399999 meters Centerline goodness : 0.346260 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.41, Z:1.16 [[ 9.99337407e-01 1.62844267e-03 -3.63606245e-02 -5.97786068e+00] [-1.78149203e-03 9.99989689e-01 -4.17720418e-03 -4.07346295e-01] [ 3.63534473e-02 4.23921256e-03 9.99330004e-01 1.15860211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.082557844 meters Centerline goodness : 0.348092 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.41, Z:1.16 [[ 9.99319808e-01 1.52030038e-03 -3.68457621e-02 -5.97627684e+00] [-1.67188591e-03 9.99990264e-01 -4.08359409e-03 -4.08313433e-01] [ 3.68391951e-02 4.14241838e-03 9.99312621e-01 1.15802455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142557844 meters Centerline goodness : 0.346078 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.41, Z:1.16 [[ 9.99289150e-01 1.05440350e-03 -3.76839951e-02 -5.97406848e+00] [-1.20786460e-03 9.99991070e-01 -4.04978031e-03 -4.10116598e-01] [ 3.76793885e-02 4.09241869e-03 9.99281500e-01 1.15801839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202557844 meters Centerline goodness : 0.187647 with order 2 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.41, Z:1.16 [[ 9.99264351e-01 9.28418369e-04 -3.83392200e-02 -5.97199268e+00] [-1.08424243e-03 9.99991236e-01 -4.04375930e-03 -4.10755358e-01] [ 3.83351297e-02 4.08235352e-03 9.99256600e-01 1.15739037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26255784399999 meters Centerline goodness : 0.134340 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.41, Z:1.16 [[ 9.99250348e-01 8.44515320e-04 -3.87043655e-02 -5.97100317e+00] [-9.96904387e-04 9.99991827e-01 -3.91812748e-03 -4.12173166e-01] [ 3.87007402e-02 3.95377480e-03 9.99243024e-01 1.15734985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32255784399999 meters Centerline goodness : 0.215064 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.41, Z:1.16 [[ 9.99253060e-01 8.75178868e-04 -3.86336025e-02 -5.97149140e+00] [-1.02492549e-03 9.99992039e-01 -3.85643636e-03 -4.12294348e-01] [ 3.86299198e-02 3.89315239e-03 9.99246002e-01 1.15780323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38255784399999 meters Centerline goodness : 0.127780 with order 3 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.41, Z:1.16 [[ 9.99113679e-01 -2.45645791e-04 -4.20927135e-02 -6.01554816e+00] [ 1.16797440e-04 9.99995301e-01 -3.06349261e-03 -4.14722472e-01] [ 4.20932682e-02 3.05586105e-03 9.99109012e-01 1.15736719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44255784399999 meters Centerline goodness : 0.165926 with order 3 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.42, Z:1.16 [[ 9.99178443e-01 -7.56889763e-04 -4.05199413e-02 -6.02060070e+00] [ 6.37164592e-04 9.99995394e-01 -2.96755493e-03 -4.15450477e-01] [ 4.05220008e-02 2.93929904e-03 9.99174323e-01 1.15842625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502557844 meters Centerline goodness : 0.164016 with order 3 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.41, Z:1.16 [[ 9.99176452e-01 -7.70730658e-04 -4.05687611e-02 -6.02078468e+00] [ 6.43141185e-04 9.99994807e-01 -3.15797487e-03 -4.14912861e-01] [ 4.05709844e-02 3.12928268e-03 9.99171758e-01 1.15911501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562557844 meters Centerline goodness : 0.343121 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.41, Z:1.16 [[ 9.99204760e-01 -6.44785825e-04 -3.98676750e-02 -6.02231832e+00] [ 5.01464580e-04 9.99993377e-01 -3.60481916e-03 -4.12102666e-01] [ 3.98697353e-02 3.58196024e-03 9.99198466e-01 1.15873678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62255784399999 meters Centerline goodness : 0.345772 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.41, Z:1.16 [[ 9.99240636e-01 -3.79605053e-04 -3.89616158e-02 -6.02487932e+00] [ 2.31547098e-04 9.99992736e-01 -3.80454003e-03 -4.09913937e-01] [ 3.89627770e-02 3.79262955e-03 9.99233465e-01 1.15906166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68255784399999 meters Centerline goodness : 0.227513 with order 3 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.41, Z:1.16 [[ 9.99236341e-01 -4.45817640e-04 -3.90709208e-02 -6.02458692e+00] [ 2.84419004e-04 9.99991405e-01 -4.13637558e-03 -4.08017692e-01] [ 3.90724291e-02 4.12210429e-03 9.99227879e-01 1.15895563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74255784399999 meters Centerline goodness : 0.126431 with order 3 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.41, Z:1.16 [[ 9.99229308e-01 -5.14181959e-04 -3.92495432e-02 -6.02408912e+00] [ 3.53721069e-04 9.99991553e-01 -4.09505804e-03 -4.08668578e-01] [ 3.92513173e-02 4.07801862e-03 9.99221049e-01 1.15894112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80255784399999 meters Centerline goodness : 0.326300 with order 1 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.41, Z:1.16 [[ 9.99251904e-01 -3.48249785e-04 -3.86718370e-02 -6.02612783e+00] [ 1.95606527e-04 9.99992176e-01 -3.95085618e-03 -4.08525611e-01] [ 3.86729103e-02 3.94033610e-03 9.99244154e-01 1.15978708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862557844 meters Centerline goodness : 0.310724 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.41, Z:1.16 [[ 9.99279783e-01 8.75510925e-03 -3.69224080e-02 -6.00581320e+00] [-8.95528572e-03 9.99946068e-01 -5.25964865e-03 -4.09606124e-01] [ 3.68743679e-02 5.58651127e-03 9.99304294e-01 1.16068459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922557844 meters Centerline goodness : 0.346627 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.40, Z:1.16 [[ 9.99288875e-01 -3.60033576e-04 -3.77042977e-02 -6.02423424e+00] [ 1.97215929e-04 9.99990641e-01 -4.32190844e-03 -4.04550782e-01] [ 3.77055009e-02 4.31139914e-03 9.99279594e-01 1.15859367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98255784399998 meters Centerline goodness : 0.235511 with order 3 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.40, Z:1.16 [[ 9.99291577e-01 -2.13593036e-04 -3.76337455e-02 -6.02386753e+00] [ 5.26564032e-05 9.99990851e-01 -4.27733088e-03 -4.04305692e-01] [ 3.76343148e-02 4.27231906e-03 9.99282445e-01 1.15766970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04255784399999 meters Centerline goodness : 0.128027 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.40, Z:1.16 [[ 9.99227817e-01 1.25823692e-03 -3.92706755e-02 -5.98121981e+00] [-1.48683895e-03 9.99982118e-01 -5.79252641e-03 -4.00148477e-01] [ 3.92626849e-02 5.84644269e-03 9.99211820e-01 1.16006955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10255784399999 meters Centerline goodness : 0.349913 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.40, Z:1.16 [[ 9.99229356e-01 1.37719254e-03 -3.92274977e-02 -5.98092487e+00] [-1.59972998e-03 9.99982803e-01 -5.64217231e-03 -4.00462447e-01] [ 3.92190528e-02 5.70057762e-03 9.99214376e-01 1.15940724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16255784399999 meters Centerline goodness : 0.143388 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.40, Z:1.16 [[ 9.99219244e-01 1.40146434e-03 -3.94833869e-02 -5.97994632e+00] [-1.62182133e-03 9.99983286e-01 -5.54952816e-03 -4.01120840e-01] [ 3.94749495e-02 5.60923033e-03 9.99204816e-01 1.15885578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222557844 meters Centerline goodness : 0.145978 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.40, Z:1.16 [[ 9.99222221e-01 1.34473428e-03 -3.94099621e-02 -5.98031534e+00] [-1.57048787e-03 9.99982533e-01 -5.69793965e-03 -4.00372620e-01] [ 3.94016115e-02 5.75540078e-03 9.99206880e-01 1.15910150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282557844 meters Centerline goodness : 0.130377 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.40, Z:1.16 [[ 9.99334188e-01 -3.14812172e-03 -3.63492869e-02 -5.95810422e+00] [ 3.05034265e-03 9.99991580e-01 -2.74512980e-03 -3.95634696e-01] [ 3.63576228e-02 2.63242428e-03 9.99335376e-01 1.15908241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342557844 meters Centerline goodness : 0.344483 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.39, Z:1.16 [[ 9.99343905e-01 -3.29283253e-03 -3.60682351e-02 -5.95850711e+00] [ 3.15663129e-03 9.99987674e-01 -3.83250515e-03 -3.88426946e-01] [ 3.60804103e-02 3.71613654e-03 9.99341981e-01 1.15835207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40255784399999 meters Centerline goodness : 0.352664 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.38, Z:1.16 [[ 9.99256898e-01 4.89738061e-03 -3.82317501e-02 -5.98110096e+00] [-5.08646054e-03 9.99975303e-01 -4.84992519e-03 -3.82832516e-01] [ 3.82070540e-02 5.04078549e-03 9.99257130e-01 1.15838037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46255784399999 meters Centerline goodness : 0.133948 with order 2 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.37, Z:1.16 [[ 9.99279992e-01 4.46313709e-03 -3.76772873e-02 -5.98237555e+00] [-4.69648271e-03 9.99970323e-01 -6.10703639e-03 -3.74798629e-01] [ 3.76489127e-02 6.27959000e-03 9.99271298e-01 1.15808470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52255784399999 meters Centerline goodness : 0.126553 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.37, Z:1.16 [[ 9.99245922e-01 7.82082314e-03 -3.80318643e-02 -5.98090309e+00] [-7.97238021e-03 9.99960866e-01 -3.83497718e-03 -3.66318186e-01] [ 3.80003833e-02 4.13528979e-03 9.99269168e-01 1.15724046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.582557844 meters Centerline goodness : 0.136141 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.36, Z:1.16 [[ 9.99257201e-01 7.26448354e-03 -3.78454004e-02 -5.98168306e+00] [-7.44971276e-03 9.99960942e-01 -4.75564544e-03 -3.61863495e-01] [ 3.78093750e-02 5.03405032e-03 9.99272290e-01 1.15723882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642557844 meters Centerline goodness : 0.230449 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.35, Z:1.16 [[ 0.99928084 0.00670448 -0.03732083 -5.98388323] [-0.00693443 0.99995774 -0.00603545 -0.35447898] [ 0.03727879 0.00628991 0.99928511 1.15834325] [ 0. 0. 0. 1. ]] SLAMing on 98.702557844 meters Centerline goodness : 0.142848 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.35, Z:1.16 [[ 0.99930123 0.00621864 -0.03685622 -5.98495486] [-0.00648664 0.99995335 -0.00715636 -0.3488737 ] [ 0.03680999 0.00739043 0.99929495 1.15811636] [ 0. 0. 0. 1. ]] SLAMing on 98.76255784399999 meters Centerline goodness : 0.235159 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.34, Z:1.16 [[ 9.99302805e-01 5.65950954e-03 -3.69035618e-02 -5.98440791e+00] [-5.97329350e-03 9.99946894e-01 -8.39810454e-03 -3.42936145e-01] [ 3.68540729e-02 8.61268524e-03 9.99283543e-01 1.15738785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82255784399999 meters Centerline goodness : 0.137257 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.33, Z:1.16 [[ 9.99270071e-01 5.06427824e-03 -3.78639314e-02 -5.98145104e+00] [-5.44325813e-03 9.99936053e-01 -9.91261410e-03 -3.34033725e-01] [ 3.78113099e-02 1.01114818e-02 9.99233738e-01 1.15643029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88255784399999 meters Centerline goodness : 0.134192 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.33, Z:1.16 [[ 9.99259780e-01 4.70549010e-03 -3.81805026e-02 -5.98044982e+00] [-5.12267204e-03 9.99928166e-01 -1.08361079e-02 -3.29090284e-01] [ 3.81267708e-02 1.10236730e-02 9.99212104e-01 1.15607158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94255784399999 meters Centerline goodness : 0.136133 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.32, Z:1.16 [[ 9.99280601e-01 4.28089265e-03 -3.76822923e-02 -5.98221136e+00] [-4.72677503e-03 9.99919776e-01 -1.17515506e-02 -3.24765592e-01] [ 3.76289621e-02 1.19212123e-02 9.99220669e-01 1.15678422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002557844 meters Centerline goodness : 0.136015 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.32, Z:1.16 [[ 9.99296206e-01 4.09418229e-03 -3.72871261e-02 -5.98349028e+00] [-4.54999308e-03 9.99915862e-01 -1.21477052e-02 -3.22572003e-01] [ 3.72342539e-02 1.23088118e-02 9.99230756e-01 1.15719193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062557844 meters Centerline goodness : 0.128950 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.32, Z:1.16 [[ 9.99294893e-01 3.73054671e-03 -3.73604122e-02 -5.98319141e+00] [-4.21859271e-03 9.99906690e-01 -1.29928851e-02 -3.18292476e-01] [ 3.73084555e-02 1.31413321e-02 9.99217386e-01 1.15698104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12255784399999 meters Centerline goodness : 0.136392 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.31, Z:1.16 [[ 9.99318288e-01 3.64593227e-03 -3.67378011e-02 -5.98521432e+00] [-4.14338688e-03 9.99900642e-01 -1.34736500e-02 -3.14698526e-01] [ 3.66850269e-02 1.36166837e-02 9.99234104e-01 1.15765208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18255784399999 meters Centerline goodness : 0.156741 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.31, Z:1.16 [[ 9.99381157e-01 -4.58960578e-03 -3.48746226e-02 -5.96526308e+00] [ 4.12945589e-03 9.99903622e-01 -1.32549977e-02 -3.09612178e-01] [ 3.49320966e-02 1.31027817e-02 9.99303791e-01 1.15902308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24255784399999 meters Centerline goodness : 0.135128 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.31, Z:1.16 [[ 9.99392167e-01 -4.59396361e-03 -3.45570782e-02 -5.96631771e+00] [ 4.13430116e-03 9.99902187e-01 -1.33612587e-02 -3.08613416e-01] [ 3.46150792e-02 1.32102679e-02 9.99313407e-01 1.15934036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30255784399999 meters Centerline goodness : 0.135215 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.31, Z:1.16 [[ 9.99292901e-01 -5.51295818e-03 -3.71928052e-02 -6.01113299e+00] [ 5.02148161e-03 9.99899012e-01 -1.32947893e-02 -3.11734159e-01] [ 3.72623428e-02 1.30986256e-02 9.99219667e-01 1.15819061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362557844 meters Centerline goodness : 0.137893 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.31, Z:1.16 [[ 9.99258586e-01 -5.56013525e-03 -3.80967644e-02 -6.00761461e+00] [ 5.05711077e-03 9.99898928e-01 -1.32875306e-02 -3.12504744e-01] [ 3.81667944e-02 1.30850195e-02 9.99185707e-01 1.15609449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422557844 meters Centerline goodness : 0.132954 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.31, Z:1.16 [[ 9.99123737e-01 -2.89590074e-03 -4.17536956e-02 -5.96333751e+00] [ 2.38953858e-03 9.99923061e-01 -1.21721731e-02 -3.10112598e-01] [ 4.17857325e-02 1.20617351e-02 9.99053786e-01 1.15876634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48255784399998 meters Centerline goodness : 0.131725 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.31, Z:1.16 [[ 9.99168295e-01 -2.68196089e-03 -4.06881557e-02 -5.96639507e+00] [ 2.18718930e-03 9.99923188e-01 -1.21997341e-02 -3.09026585e-01] [ 4.07177496e-02 1.21005948e-02 9.99097413e-01 1.15915909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54255784399999 meters Centerline goodness : 0.135670 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.31, Z:1.16 [[ 9.99176731e-01 5.27046046e-03 -4.02253931e-02 -5.98815236e+00] [-5.81698120e-03 9.99892200e-01 -1.34815329e-02 -3.11737380e-01] [ 4.01500029e-02 1.37044243e-02 9.99099678e-01 1.15708848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60255784399999 meters Centerline goodness : 0.180093 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.31, Z:1.16 [[ 9.99166446e-01 5.23735165e-03 -4.04843710e-02 -5.98686237e+00] [-5.81693776e-03 9.99882087e-01 -1.42117786e-02 -3.07077489e-01] [ 4.04051653e-02 1.44354274e-02 9.99079096e-01 1.15593868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66255784399999 meters Centerline goodness : 0.146183 with order 2 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.30, Z:1.16 [[ 9.99165329e-01 -2.12049935e-03 -4.07939803e-02 -5.96795178e+00] [ 1.59597747e-03 9.99915697e-01 -1.28860981e-02 -3.01887376e-01] [ 4.08178662e-02 1.28102362e-02 9.99084481e-01 1.15884892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722557844 meters Centerline goodness : 0.136892 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.30, Z:1.16 [[ 9.99090974e-01 -2.89510364e-03 -4.25305031e-02 -5.96283225e+00] [ 2.33866902e-03 9.99911101e-01 -1.31271234e-02 -3.04095575e-01] [ 4.25647265e-02 1.30157257e-02 9.99008926e-01 1.15794105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782557844 meters Centerline goodness : 0.134459 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.31, Z:1.16 [[ 9.99093072e-01 -2.82686377e-03 -4.24857979e-02 -5.96297287e+00] [ 2.28200610e-03 9.99914606e-01 -1.28674974e-02 -3.05471407e-01] [ 4.25185445e-02 1.27588746e-02 9.99014206e-01 1.15797121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842557844 meters Centerline goodness : 0.132133 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.31, Z:1.16 [[ 9.99119619e-01 -2.71289055e-03 -4.18643814e-02 -5.96509448e+00] [ 2.18032915e-03 9.99916191e-01 -1.27615299e-02 -3.05390533e-01] [ 4.18954935e-02 1.26590168e-02 9.99041799e-01 1.15883728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90255784399999 meters Centerline goodness : 0.133535 with order 3 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.30, Z:1.16 [[ 0.99913626 -0.01018462 -0.04028658 -5.94650503] [ 0.00972049 0.99988431 -0.01169981 -0.29956172] [ 0.04040108 0.0112981 0.99911967 1.16061088] [ 0. 0. 0. 1. ]] SLAMing on 99.96255784399999 meters Centerline goodness : 0.132778 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.30, Z:1.16 [[ 9.99018772e-01 -1.52735676e-03 -4.42623944e-02 -5.96321174e+00] [ 9.75988733e-04 9.99921699e-01 -1.24757394e-02 -3.00868075e-01] [ 4.42779835e-02 1.24202982e-02 9.98942039e-01 1.15812510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02255784399999 meters Centerline goodness : 0.136868 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.98882579e-01 -2.96401457e-03 -4.71678789e-02 -6.00965126e+00] [ 2.34182037e-03 9.99909594e-01 -1.32408549e-02 -3.02296157e-01] [ 4.72028607e-02 1.31156006e-02 9.98799215e-01 1.15838451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.082557844 meters Centerline goodness : 0.137810 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.98913792e-01 -2.88816365e-03 -4.65069343e-02 -6.01239692e+00] [ 2.27009603e-03 9.99908480e-01 -1.33371313e-02 -3.00245712e-01] [ 4.65411978e-02 1.32170692e-02 9.98828927e-01 1.15975283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142557844 meters Centerline goodness : 0.146243 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.98903386e-01 -3.02591571e-03 -4.67211821e-02 -6.01148376e+00] [ 2.40113830e-03 9.99907027e-01 -1.34228024e-02 -3.00203492e-01] [ 4.67574546e-02 1.32958987e-02 9.98817781e-01 1.15918582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202557844 meters Centerline goodness : 0.144758 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.98896638e-01 -3.04868849e-03 -4.68637590e-02 -6.01135618e+00] [ 2.43258907e-03 9.99909943e-01 -1.31980214e-02 -3.01659129e-01] [ 4.68997752e-02 1.30694589e-02 9.98814097e-01 1.15958767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26255784399999 meters Centerline goodness : 0.145019 with order 2 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.31, Z:1.16 [[ 9.98923604e-01 -3.56735670e-03 -4.62483181e-02 -6.01338051e+00] [ 2.97639833e-03 9.99913127e-01 -1.28405156e-02 -3.05803793e-01] [ 4.62901071e-02 1.26890407e-02 9.98847443e-01 1.16049357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32255784399999 meters Centerline goodness : 0.142097 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.31, Z:1.16 [[ 9.98879061e-01 -3.71310124e-03 -4.71893458e-02 -6.01055198e+00] [ 3.13107078e-03 9.99918192e-01 -1.24018764e-02 -3.09562979e-01] [ 4.72315347e-02 1.22402214e-02 9.98808970e-01 1.15985329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38255784399999 meters Centerline goodness : 0.137604 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.31, Z:1.16 [[ 9.98843024e-01 -3.44602421e-03 -4.79660143e-02 -6.00773306e+00] [ 2.88268279e-03 9.99926118e-01 -1.18088196e-02 -3.12707089e-01] [ 4.80031640e-02 1.16568863e-02 9.98779161e-01 1.15854803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44255784399999 meters Centerline goodness : 0.139577 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.32, Z:1.16 [[ 9.98868108e-01 5.38103817e-03 -4.72604147e-02 -5.98805173e+00] [-6.01820020e-03 9.99892773e-01 -1.33500113e-02 -3.15256148e-01] [ 4.71835102e-02 1.36193232e-02 9.98793387e-01 1.16136520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502557844 meters Centerline goodness : 0.134898 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.31, Z:1.16 [[ 0.99876188 0.00931481 -0.04886647 -5.98145888] [-0.00984014 0.99989624 -0.01052065 -0.30985739] [ 0.0487634 0.01098848 0.99874991 1.15805503] [ 0. 0. 0. 1. ]] SLAMing on 100.562557844 meters Centerline goodness : 0.167999 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.31, Z:1.16 [[ 0.99877783 0.00942021 -0.04851907 -5.98238663] [-0.00997487 0.9998875 -0.01120223 -0.30576035] [ 0.04840808 0.01167251 0.99875944 1.15793091] [ 0. 0. 0. 1. ]] SLAMing on 100.62255784399999 meters Centerline goodness : 0.139306 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.30, Z:1.16 [[ 0.99881645 0.01128591 -0.04731105 -5.98876217] [-0.01176272 0.99988268 -0.00981186 -0.30047802] [ 0.04719477 0.01035675 0.99883201 1.16144077] [ 0. 0. 0. 1. ]] SLAMing on 100.68255784399999 meters Centerline goodness : 0.141005 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.30, Z:1.16 [[ 0.99882682 0.01104207 -0.04714921 -5.98936757] [-0.011536 0.99988126 -0.01021651 -0.29870651] [ 0.0470308 0.01074844 0.99883561 1.16175112] [ 0. 0. 0. 1. ]] SLAMing on 100.74255784399999 meters Centerline goodness : 0.143728 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.30, Z:1.16 [[ 0.9988644 0.01064805 -0.04643835 -5.9917793 ] [-0.0111483 0.99988244 -0.01052674 -0.29816058] [ 0.0463208 0.01103249 0.99886569 1.16274441] [ 0. 0. 0. 1. ]] SLAMing on 100.80255784399999 meters Centerline goodness : 0.139491 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.30, Z:1.16 [[ 0.99886991 0.01069704 -0.04630855 -5.99219463] [-0.01118892 0.99988357 -0.01037575 -0.29869426] [ 0.04619217 0.01088216 0.9988733 1.16288202] [ 0. 0. 0. 1. ]] SLAMing on 100.862557844 meters Centerline goodness : 0.137364 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.98762509e-01 2.16900761e-03 -4.96864772e-02 -6.01108765e+00] [-2.63361574e-03 9.99953405e-01 -9.28723770e-03 -2.95886150e-01] [ 4.96640179e-02 9.40659992e-03 9.98721684e-01 1.16191212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922557844 meters Centerline goodness : 0.141720 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.98772913e-01 2.10673054e-03 -4.94795813e-02 -6.01190385e+00] [-2.59333722e-03 9.99948887e-01 -9.77235655e-03 -2.93240811e-01] [ 4.94564645e-02 9.88868227e-03 9.98727326e-01 1.16230293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98255784399998 meters Centerline goodness : 0.139508 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.29, Z:1.16 [[ 0.99890346 0.01189034 -0.04528243 -5.99265227] [-0.01235671 0.99987332 -0.01003315 -0.28777094] [ 0.04515739 0.01058169 0.99892384 1.16239837] [ 0. 0. 0. 1. ]] SLAMing on 101.04255784399999 meters Centerline goodness : 0.129728 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.28, Z:1.16 [[ 9.98927152e-01 3.45047272e-03 -4.61804971e-02 -6.01140496e+00] [-3.88082507e-03 9.99949849e-01 -9.23250922e-03 -2.79421563e-01] [ 4.61463246e-02 9.40182258e-03 9.98890446e-01 1.16023246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10255784399999 meters Centerline goodness : 0.214023 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.27, Z:1.16 [[ 9.98855881e-01 3.34784632e-03 -4.77045141e-02 -6.00646659e+00] [-3.83594359e-03 9.99941193e-01 -1.01438069e-02 -2.72802944e-01] [ 4.76677488e-02 1.03151930e-02 9.98809983e-01 1.15842658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16255784399999 meters Centerline goodness : 0.171937 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.27, Z:1.16 [[ 9.98863904e-01 3.14325963e-03 -4.75501995e-02 -6.00722989e+00] [-3.64452105e-03 9.99938665e-01 -1.04587088e-02 -2.71298442e-01] [ 4.75144086e-02 1.06201244e-02 9.98814094e-01 1.15902791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222557844 meters Centerline goodness : 0.144633 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.27, Z:1.16 [[ 9.98883333e-01 -1.31469356e-03 -4.72266828e-02 -6.00872285e+00] [ 6.40963482e-04 9.99897856e-01 -1.42781897e-02 -2.73389894e-01] [ 4.72406304e-02 1.42319751e-02 9.98782145e-01 1.16007204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282557844 meters Centerline goodness : 0.146663 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.28, Z:1.16 [[ 9.98868473e-01 -1.53258720e-03 -4.75333988e-02 -6.00773832e+00] [ 8.71377036e-04 9.99902621e-01 -1.39280363e-02 -2.76024044e-01] [ 4.75501160e-02 1.38708569e-02 9.98772540e-01 1.15986385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34255784399998 meters Centerline goodness : 0.143928 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.28, Z:1.16 [[ 9.98872237e-01 -1.58358300e-03 -4.74525757e-02 -6.00813157e+00] [ 9.47844116e-04 9.99909541e-01 -1.34168604e-02 -2.79511511e-01] [ 4.74695299e-02 1.33567517e-02 9.98783380e-01 1.16031694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40255784399999 meters Centerline goodness : 0.141043 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.28, Z:1.16 [[ 9.98869114e-01 -1.29592533e-03 -4.75269725e-02 -6.00789573e+00] [ 6.87573154e-04 9.99917658e-01 -1.28142610e-02 -2.82092120e-01] [ 4.75396653e-02 1.27670913e-02 9.98787756e-01 1.16022732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46255784399999 meters Centerline goodness : 0.141361 with order 2 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.28, Z:1.16 [[ 9.98877396e-01 -9.96847502e-04 -4.73598275e-02 -6.00864319e+00] [ 4.12486918e-04 9.99923689e-01 -1.23469109e-02 -2.84441825e-01] [ 4.73685215e-02 1.23135150e-02 9.98801582e-01 1.16076818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52255784399999 meters Centerline goodness : 0.135908 with order 2 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.28, Z:1.16 [[ 9.98859362e-01 -5.55216899e-04 -4.77458562e-02 -6.00707849e+00] [-2.93968215e-05 9.99925055e-01 -1.22427081e-02 -2.83833670e-01] [ 4.77490753e-02 1.22301471e-02 9.98784486e-01 1.15971078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.582557844 meters Centerline goodness : 0.139990 with order 3 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.29, Z:1.16 [[ 0.99875117 0.00921965 -0.04910296 -6.02695519] [-0.00981638 0.9998807 -0.01192541 -0.28730729] [ 0.04898716 0.01239253 0.99872253 1.15788591] [ 0. 0. 0. 1. ]] SLAMing on 101.642557844 meters Centerline goodness : 0.157363 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.28, Z:1.16 [[ 9.98898091e-01 2.17231834e-03 -4.68816079e-02 -6.00986448e+00] [-2.67138246e-03 9.99940407e-01 -1.05851736e-02 -2.83702007e-01] [ 4.68558197e-02 1.06987484e-02 9.98844367e-01 1.16053581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702557844 meters Centerline goodness : 0.152039 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.28, Z:1.16 [[ 9.98900283e-01 2.23373126e-03 -4.68319900e-02 -6.01019443e+00] [-2.72478285e-03 9.99941954e-01 -1.04241729e-02 -2.84526347e-01] [ 4.68059868e-02 1.05403163e-02 9.98848388e-01 1.16084172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76255784399999 meters Centerline goodness : 0.143449 with order 2 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.98899479e-01 2.09431188e-03 -4.68555694e-02 -6.00985403e+00] [-2.56590505e-03 9.99946637e-01 -1.00069448e-02 -2.87513481e-01] [ 4.68321114e-02 1.01161589e-02 9.98851549e-01 1.16050744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82255784399999 meters Centerline goodness : 0.144493 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.98877281e-01 2.05106351e-03 -4.73283304e-02 -6.00852516e+00] [-2.51119417e-03 9.99950143e-01 -9.66468819e-03 -2.89873073e-01] [ 4.73061478e-02 9.77268809e-03 9.98832630e-01 1.16043426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88255784399999 meters Centerline goodness : 0.142789 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.98860548e-01 2.21431276e-03 -4.76728655e-02 -6.00768584e+00] [-2.66190834e-03 9.99952955e-01 -9.32745783e-03 -2.91149702e-01] [ 4.76499688e-02 9.44373044e-03 9.98819451e-01 1.16053176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94255784399999 meters Centerline goodness : 0.139260 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.98835531e-01 2.35223716e-03 -4.81876444e-02 -6.00656569e+00] [-2.78196420e-03 9.99956945e-01 -8.85265949e-03 -2.93922881e-01] [ 4.81647461e-02 8.97640714e-03 9.98799070e-01 1.16090399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002557844 meters Centerline goodness : 0.146712 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.98830386e-01 2.35238563e-03 -4.82941731e-02 -6.00641958e+00] [-2.76792862e-03 9.99959708e-01 -8.53934002e-03 -2.96200610e-01] [ 4.82721394e-02 8.66302711e-03 9.98796652e-01 1.16114728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062557844 meters Centerline goodness : 0.144887 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.29, Z:1.16 [[ 9.98890874e-01 -5.49258199e-03 -4.67638081e-02 -5.98676007e+00] [ 5.14679721e-03 9.99958543e-01 -7.51148259e-03 -2.92438766e-01] [ 4.68031269e-02 7.26246757e-03 9.98877732e-01 1.16276811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12255784399999 meters Centerline goodness : 0.147656 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.98977463e-01 2.00460271e-03 -4.51664743e-02 -6.00677969e+00] [-2.37572497e-03 9.99963847e-01 -8.16458365e-03 -2.96201412e-01] [ 4.51484747e-02 8.26353818e-03 9.98946109e-01 1.16065473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18255784399999 meters Centerline goodness : 0.143618 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.98973360e-01 1.68296367e-03 -4.52702230e-02 -6.00633260e+00] [-2.08987355e-03 9.99957830e-01 -8.94264001e-03 -2.92476034e-01] [ 4.52532638e-02 9.02806818e-03 9.98934751e-01 1.16028918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24255784399999 meters Centerline goodness : 0.145105 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.98958214e-01 1.42042338e-03 -4.56121586e-02 -6.00546156e+00] [-1.86370227e-03 9.99951436e-01 -9.67738231e-03 -2.88831094e-01] [ 4.55961976e-02 9.75230804e-03 9.98912348e-01 1.16021262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30255784399999 meters Centerline goodness : 0.135114 with order 2 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.98956765e-01 1.24577128e-03 -4.56489892e-02 -6.00543785e+00] [-1.71159103e-03 9.99946853e-01 -1.01667174e-02 -2.86179344e-01] [ 4.56338977e-02 1.02342435e-02 9.98905805e-01 1.16026946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362557844 meters Centerline goodness : 0.142073 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.99032684e-01 6.57317350e-05 -4.39737686e-02 -6.01088808e+00] [-5.40909783e-04 9.99941595e-01 -1.07941319e-02 -2.88189476e-01] [ 4.39704908e-02 1.08074764e-02 9.98974371e-01 1.16180961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422557844 meters Centerline goodness : 0.140226 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.29, Z:1.16 [[ 9.99050235e-01 3.32267665e-05 -4.35732395e-02 -6.01242410e+00] [-4.72355704e-04 9.99949208e-01 -1.00676930e-02 -2.92460020e-01] [ 4.35706918e-02 1.00787131e-02 9.98999507e-01 1.16276933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48255784399998 meters Centerline goodness : 0.144083 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.99038939e-01 3.02800217e-04 -4.38304388e-02 -6.01153656e+00] [-7.13242504e-04 9.99956043e-01 -9.34898529e-03 -2.95966852e-01] [ 4.38256813e-02 9.37126208e-03 9.98995240e-01 1.16242885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54255784399999 meters Centerline goodness : 0.144154 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.99030540e-01 6.59144411e-04 -4.40175714e-02 -6.01090712e+00] [-1.02914597e-03 9.99964327e-01 -8.38363731e-03 -3.01333272e-01] [ 4.40104751e-02 8.42081021e-03 9.98995580e-01 1.16232043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60255784399999 meters Centerline goodness : 0.131854 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.30, Z:1.16 [[ 9.99029673e-01 9.50382624e-04 -4.40319218e-02 -6.01145682e+00] [-1.29242345e-03 9.99969209e-01 -7.74020305e-03 -3.04471843e-01] [ 4.40232098e-02 7.78960040e-03 9.99000140e-01 1.16323910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66255784399999 meters Centerline goodness : 0.140230 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.31, Z:1.16 [[ 9.99044597e-01 1.45496066e-03 -4.36781026e-02 -6.01232577e+00] [-1.75387019e-03 9.99975301e-01 -6.80592315e-03 -3.08671154e-01] [ 4.36671215e-02 6.87602647e-03 9.99022474e-01 1.16325071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722557844 meters Centerline goodness : 0.155637 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.31, Z:1.16 [[ 9.99036511e-01 1.65964857e-03 -4.38553852e-02 -6.01155486e+00] [-1.94771452e-03 9.99976804e-01 -6.52662933e-03 -3.10219915e-01] [ 4.38435361e-02 6.60575877e-03 9.99016571e-01 1.16275712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782557844 meters Centerline goodness : 0.140309 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.31, Z:1.16 [[ 9.99019001e-01 1.92188723e-03 -4.42418673e-02 -6.01023522e+00] [-2.20039430e-03 9.99978065e-01 -6.24726432e-03 -3.11141190e-01] [ 4.42288904e-02 6.33848531e-03 9.99001316e-01 1.16212442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84255784399998 meters Centerline goodness : 0.139242 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.32, Z:1.16 [[ 0.99910915 0.00894958 -0.04124087 -5.99104997] [-0.00932024 0.99991781 -0.00880419 -0.31524197] [ 0.04115868 0.00918072 0.99911044 1.16368305] [ 0. 0. 0. 1. ]] SLAMing on 102.90255784399999 meters Centerline goodness : 0.147579 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.32, Z:1.16 [[ 0.99911135 0.00939099 -0.04108911 -5.99129751] [-0.00971771 0.99992268 -0.0077591 -0.32038964] [ 0.04101307 0.0081515 0.99912536 1.16344732] [ 0. 0. 0. 1. ]] SLAMing on 102.96255784399999 meters Centerline goodness : 0.148244 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.33, Z:1.16 [[ 0.99908831 0.00725578 -0.04207029 -5.98682977] [-0.00766005 0.99992595 -0.00945619 -0.32577482] [ 0.04199856 0.00976982 0.9990699 1.16128541] [ 0. 0. 0. 1. ]] SLAMing on 103.02255784399999 meters Centerline goodness : 0.127932 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.33, Z:1.16 [[ 9.99173864e-01 -6.46848401e-04 -4.06345972e-02 -5.96772495e+00] [ 3.38696370e-04 9.99971139e-01 -7.58991579e-03 -3.25862259e-01] [ 4.06383340e-02 7.56988270e-03 9.99145246e-01 1.16344601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.082557844 meters Centerline goodness : 0.147113 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.33, Z:1.16 [[ 9.99164591e-01 -4.36373641e-03 -4.06334636e-02 -5.96743944e+00] [ 3.94369636e-03 9.99938020e-01 -1.04117185e-02 -3.31738038e-01] [ 4.06763792e-02 1.02427744e-02 9.99119872e-01 1.16320436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142557844 meters Centerline goodness : 0.133799 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.34, Z:1.16 [[ 9.99212182e-01 4.47747992e-04 -3.96839273e-02 -5.99011645e+00] [-9.63701277e-04 9.99915248e-01 -1.29833927e-02 -3.41814013e-01] [ 3.96747508e-02 1.30114076e-02 9.99127928e-01 1.16177991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202557844 meters Centerline goodness : 0.154822 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.35, Z:1.16 [[ 9.99216663e-01 1.05201614e-03 -3.95595037e-02 -5.99072262e+00] [-1.51154864e-03 9.99931713e-01 -1.15881202e-02 -3.48410729e-01] [ 3.95446114e-02 1.16388389e-02 9.99150019e-01 1.16229386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26255784399999 meters Centerline goodness : 0.122142 with order 2 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.35, Z:1.16 [[ 9.99179192e-01 9.33245831e-04 -4.04978023e-02 -5.98735937e+00] [-1.39611739e-03 9.99934012e-01 -1.14027719e-02 -3.51173217e-01] [ 4.04844883e-02 1.14499521e-02 9.99114560e-01 1.16091014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32255784399999 meters Centerline goodness : 0.140003 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.35, Z:1.16 [[ 9.99161715e-01 1.44598454e-03 -4.09118071e-02 -5.98539069e+00] [-1.87818087e-03 9.99942819e-01 -1.05276347e-02 -3.54429335e-01] [ 4.08942449e-02 1.05956493e-02 9.99107298e-01 1.15947886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38255784399999 meters Centerline goodness : 0.135501 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.36, Z:1.16 [[ 9.99220609e-01 -1.34823154e-03 -3.94506988e-02 -5.99085017e+00] [ 8.42561190e-04 9.99917317e-01 -1.28315994e-02 -3.59091872e-01] [ 3.94647369e-02 1.27883589e-02 9.99139126e-01 1.16152733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44255784399999 meters Centerline goodness : 0.139169 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.36, Z:1.16 [[ 9.99213683e-01 -1.06644918e-03 -3.96343049e-02 -5.99012334e+00] [ 5.87550618e-04 9.99926709e-01 -1.20926153e-02 -3.62752508e-01] [ 3.96442963e-02 1.20598195e-02 9.99141076e-01 1.16112745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502557844 meters Centerline goodness : 0.130589 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.36, Z:1.16 [[ 9.99205262e-01 -8.25302769e-04 -3.98517648e-02 -5.98917785e+00] [ 3.44105846e-04 9.99926975e-01 -1.20800203e-02 -3.62266979e-01] [ 3.98588242e-02 1.20567067e-02 9.99132579e-01 1.16050424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562557844 meters SLAMing on 103.62255784399999 meters Centerline goodness : 0.135797 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.36, Z:1.16 [[ 0.99910862 0.00931345 -0.04117303 -6.01116867] [-0.0097903 0.99988714 -0.01139524 -0.36348109] [ 0.04106225 0.01178818 0.99908705 1.16065085] [ 0. 0. 0. 1. ]] SLAMing on 103.68255784399999 meters Centerline goodness : 0.151901 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.36, Z:1.16 [[ 9.99220586e-01 8.05948053e-04 -3.94660637e-02 -5.99067493e+00] [-1.25072043e-03 9.99935976e-01 -1.12463496e-02 -3.56657483e-01] [ 3.94544730e-02 1.12869450e-02 9.99157620e-01 1.16086851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74255784399999 meters Centerline goodness : 0.141214 with order 2 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.36, Z:1.16 [[ 9.99248942e-01 -2.11163209e-03 -3.86922744e-02 -5.99501950e+00] [ 1.58979584e-03 9.99907436e-01 -1.35126413e-02 -3.59941985e-01] [ 3.87172266e-02 1.34409797e-02 9.99159805e-01 1.16343784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80255784399999 meters Centerline goodness : 0.151684 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.36, Z:1.16 [[ 9.99239397e-01 -2.40625530e-03 -3.89209204e-02 -5.99445088e+00] [ 1.89916286e-03 9.99912904e-01 -1.30605178e-02 -3.63571524e-01] [ 3.89489575e-02 1.29766668e-02 9.99156937e-01 1.16364849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862557844 meters Centerline goodness : 0.158037 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.37, Z:1.16 [[ 9.99234795e-01 -6.25845032e-03 -3.86090082e-02 -5.99473803e+00] [ 5.64355526e-03 9.99855830e-01 -1.60146890e-02 -3.69464072e-01] [ 3.87036691e-02 1.57845424e-02 9.99126055e-01 1.16297815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922557844 meters Centerline goodness : 0.138098 with order 3 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.37, Z:1.16 [[ 9.99249544e-01 -5.87400193e-03 -3.82863530e-02 -5.99590473e+00] [ 5.29136495e-03 9.99868924e-01 -1.53014830e-02 -3.72306688e-01] [ 3.83712155e-02 1.50874128e-02 9.99149648e-01 1.16348324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98255784399998 meters Centerline goodness : 0.133134 with order 3 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.38, Z:1.16 [[ 0.99909071 -0.00699603 -0.04205717 -6.03817776] [ 0.00638073 0.9998709 -0.01474677 -0.37919723] [ 0.04215491 0.014465 0.99900637 1.16292023] [ 0. 0. 0. 1. ]] SLAMing on 104.04255784399999 meters Centerline goodness : 0.224565 with order 3 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.38, Z:1.16 [[ 9.99093491e-01 -6.49771828e-03 -4.20710838e-02 -6.03821873e+00] [ 5.92681045e-03 9.99888851e-01 -1.36806155e-02 -3.84029715e-01] [ 4.21553004e-02 1.34188665e-02 9.99020953e-01 1.16302717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10255784399999 meters Centerline goodness : 0.132149 with order 3 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.39, Z:1.16 [[ 9.99081128e-01 -6.15985666e-03 -4.24141035e-02 -6.03704692e+00] [ 5.62920609e-03 9.99904528e-01 -1.26192692e-02 -3.90000213e-01] [ 4.24877871e-02 1.23689160e-02 9.99020419e-01 1.16264409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16255784399999 meters Centerline goodness : 0.130665 with order 3 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.39, Z:1.16 [[ 9.99059281e-01 -5.88704003e-03 -4.29638916e-02 -6.03505979e+00] [ 5.37213028e-03 9.99912478e-01 -1.20903428e-02 -3.92236094e-01] [ 4.30313076e-02 1.18481615e-02 9.99003467e-01 1.16168499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222557844 meters Centerline goodness : 0.369669 with order 1 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.40, Z:1.16 [[ 9.99053305e-01 -5.66062353e-03 -4.31329445e-02 -6.03475675e+00] [ 5.16978374e-03 9.99920707e-01 -1.14827578e-02 -3.95574820e-01] [ 4.31945239e-02 1.12488991e-02 9.99003351e-01 1.16196046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282557844 meters Centerline goodness : 0.348527 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.40, Z:1.16 [[ 9.99073363e-01 -5.21643566e-03 -4.27224111e-02 -6.03659430e+00] [ 4.76726472e-03 9.99932360e-01 -1.06088493e-02 -3.99776533e-01] [ 4.27748618e-02 1.03953497e-02 9.99030654e-01 1.16321145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34255784399998 meters Centerline goodness : 0.350037 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.40, Z:1.16 [[ 9.99065426e-01 -4.95750055e-03 -4.29382983e-02 -6.03554225e+00] [ 4.52414245e-03 9.99937908e-01 -1.01838790e-02 -4.01537591e-01] [ 4.29861187e-02 9.98010242e-03 9.99025821e-01 1.16238873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40255784399999 meters Centerline goodness : 0.312179 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.41, Z:1.17 [[ 9.99141049e-01 3.89131970e-03 -4.12555708e-02 -6.01762225e+00] [-4.37627453e-03 9.99922314e-01 -1.16711058e-02 -4.06601147e-01] [ 4.12069498e-02 1.18416266e-02 9.99080459e-01 1.16512016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46255784399999 meters Centerline goodness : 0.346319 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.40, Z:1.17 [[ 9.99217311e-01 -3.73969529e-03 -3.93799343e-02 -6.00056531e+00] [ 3.34446628e-03 9.99943427e-01 -1.00974042e-02 -4.00652338e-01] [ 3.94154677e-02 9.95779625e-03 9.99173290e-01 1.16708225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52255784399999 meters Centerline goodness : 0.307595 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.40, Z:1.17 [[ 9.99188798e-01 -3.72622649e-03 -4.00981498e-02 -5.99831542e+00] [ 3.34447915e-03 9.99948487e-01 -9.58319617e-03 -4.04372114e-01] [ 4.01317934e-02 9.44131484e-03 9.99149789e-01 1.16649921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.582557844 meters Centerline goodness : 0.194546 with order 2 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.40, Z:1.17 [[ 0.99919249 -0.01112945 -0.03860691 -5.97870066] [ 0.01082178 0.99990807 -0.00816915 -0.40209264] [ 0.03869428 0.00774476 0.99922108 1.16832824] [ 0. 0. 0. 1. ]] SLAMing on 104.642557844 meters Centerline goodness : 0.344736 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.41, Z:1.17 [[ 9.99065622e-01 -1.23393559e-02 -4.14200945e-02 -6.02126322e+00] [ 1.20806325e-02 9.99905959e-01 -6.49083103e-03 -4.09322169e-01] [ 4.14962920e-02 5.98438519e-03 9.99120736e-01 1.16693116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702557844 meters Centerline goodness : 0.085335 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.41, Z:1.17 [[ 9.99124485e-01 -4.01658800e-03 -4.16428821e-02 -6.00069479e+00] [ 3.69831126e-03 9.99963383e-01 -7.71722727e-03 -4.14420164e-01] [ 4.16723542e-02 7.55646239e-03 9.99102755e-01 1.16820372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76255784399999 meters Centerline goodness : 0.348339 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.42, Z:1.17 [[ 9.99198646e-01 2.29813051e-03 -3.99597929e-02 -6.01768423e+00] [-2.67384402e-03 9.99952700e-01 -9.35138770e-03 -4.24764175e-01] [ 3.99364121e-02 9.45074018e-03 9.99157528e-01 1.16545273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82255784399999 meters Centerline goodness : 0.309358 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.42, Z:1.17 [[ 9.99264379e-01 -5.17204872e-03 -3.79993651e-02 -5.99801222e+00] [ 4.86567847e-03 9.99954946e-01 -8.15057089e-03 -4.22011378e-01] [ 3.80398082e-02 7.95968246e-03 9.99244523e-01 1.16670025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88255784399999 meters Centerline goodness : 0.316447 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.42, Z:1.17 [[ 9.99290346e-01 -5.43503345e-03 -3.72728490e-02 -5.99994945e+00] [ 5.13972612e-03 9.99954678e-01 -8.01410238e-03 -4.22810903e-01] [ 3.73147166e-02 7.81684291e-03 9.99272990e-01 1.16654256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94255784399999 meters Centerline goodness : 0.349617 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.42, Z:1.17 [[ 9.99281962e-01 -5.29087503e-03 -3.75175600e-02 -5.99934268e+00] [ 4.99667773e-03 9.99956065e-01 -7.93102355e-03 -4.22967236e-01] [ 3.75578737e-02 7.73786561e-03 9.99264495e-01 1.16662920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002557844 meters Centerline goodness : 0.351004 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.43, Z:1.17 [[ 9.99288777e-01 -5.36707392e-03 -3.73247276e-02 -6.00072541e+00] [ 5.09510985e-03 9.99959804e-01 -7.37773897e-03 -4.26253720e-01] [ 3.73628242e-02 7.18231816e-03 9.99275955e-01 1.16767401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062557844 meters Centerline goodness : 0.323968 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.43, Z:1.17 [[ 9.99290223e-01 -5.44535483e-03 -3.72746472e-02 -6.00111072e+00] [ 5.19343360e-03 9.99963038e-01 -6.85200703e-03 -4.29085593e-01] [ 3.73105811e-02 6.65356023e-03 9.99281567e-01 1.16774795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12255784399999 meters Centerline goodness : 0.122323 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.43, Z:1.17 [[ 9.99288366e-01 -5.35772298e-03 -3.73370616e-02 -6.00119012e+00] [ 5.12232354e-03 9.99966416e-01 -6.39752337e-03 -4.31483385e-01] [ 3.73700838e-02 6.20171817e-03 9.99282250e-01 1.16806114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18255784399999 meters Centerline goodness : 0.217684 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.44, Z:1.17 [[ 9.99261446e-01 4.39495978e-03 -3.81739094e-02 -5.98102580e+00] [-4.62354594e-03 9.99971895e-01 -5.90180425e-03 -4.36160242e-01] [ 3.81468983e-02 6.07394427e-03 9.99253682e-01 1.16943083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24255784399999 meters Centerline goodness : 0.348025 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.44, Z:1.17 [[ 9.99234894e-01 4.64149238e-03 -3.88340504e-02 -5.97849177e+00] [-4.86168724e-03 9.99972627e-01 -5.57763622e-03 -4.37773402e-01] [ 3.88070988e-02 5.76216774e-03 9.99230107e-01 1.16804962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30255784399999 meters Centerline goodness : 0.159068 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.44, Z:1.17 [[ 9.99237307e-01 4.92484761e-03 -3.87369244e-02 -5.97894084e+00] [-5.11869588e-03 9.99974862e-01 -4.90663829e-03 -4.40418787e-01] [ 3.87117861e-02 5.10117857e-03 9.99237397e-01 1.16831916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362557844 meters Centerline goodness : 0.085650 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.44, Z:1.17 [[ 9.99230888e-01 5.15224204e-03 -3.88726906e-02 -5.97888344e+00] [-5.31765950e-03 9.99977237e-01 -4.15316944e-03 -4.44016274e-01] [ 3.88504076e-02 4.35668692e-03 9.99235540e-01 1.16871405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422557844 meters Centerline goodness : 0.099809 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.45, Z:1.17 [[ 9.99223719e-01 5.39536437e-03 -3.90236926e-02 -5.97804677e+00] [-5.54813665e-03 9.99977360e-01 -3.80762338e-03 -4.45003946e-01] [ 3.90022656e-02 4.02117638e-03 9.99231031e-01 1.16805453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48255784399998 meters Centerline goodness : 0.152704 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.44, Z:1.17 [[ 9.99190499e-01 8.73416709e-03 -3.92690957e-02 -5.97609953e+00] [-8.78173495e-03 9.99960900e-01 -1.03899856e-03 -4.42507678e-01] [ 3.92584855e-02 1.38300828e-03 9.99228131e-01 1.16715022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54255784399999 meters Centerline goodness : 0.373048 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.44, Z:1.17 [[ 9.99172025e-01 8.82094281e-03 -3.97171931e-02 -5.97471854e+00] [-8.87393992e-03 9.99959955e-01 -1.15826254e-03 -4.42092859e-01] [ 3.97053856e-02 1.50975151e-03 9.99210290e-01 1.16697739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60255784399999 meters Centerline goodness : 0.151596 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.44, Z:1.17 [[ 9.99134071e-01 -3.93599506e-04 -4.16047143e-02 -5.99177223e+00] [ 3.75862192e-04 9.99999835e-01 -4.34150763e-04 -4.35618872e-01] [ 4.16048783e-02 4.18137180e-04 9.99134055e-01 1.16525860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66255784399999 meters Centerline goodness : 0.152131 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.43, Z:1.16 [[ 9.99285368e-01 6.10111457e-03 -3.73032223e-02 -5.96968877e+00] [-6.21779924e-03 9.99976131e-01 -3.01279209e-03 -4.33549401e-01] [ 3.72839505e-02 3.24258299e-03 9.99299451e-01 1.16316141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722557844 meters Centerline goodness : 0.150666 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.43, Z:1.16 [[ 9.99341849e-01 5.58991541e-03 -3.58416294e-02 -5.97434705e+00] [-5.70989365e-03 9.99978430e-01 -3.24596957e-03 -4.32633001e-01] [ 3.58227116e-02 3.44848512e-03 9.99352211e-01 1.16421250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782557844 meters Centerline goodness : 0.128564 with order 2 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.43, Z:1.16 [[ 9.99336040e-01 5.35505070e-03 -3.60388970e-02 -5.97352159e+00] [-5.49180146e-03 9.99978087e-01 -3.69661054e-03 -4.30911915e-01] [ 3.60183117e-02 3.89207460e-03 9.99343551e-01 1.16364247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84255784399998 meters Centerline goodness : 0.387606 with order 3 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.42, Z:1.16 [[ 9.99260238e-01 4.42102926e-03 -3.82024988e-02 -5.93870729e+00] [-4.55460420e-03 9.99983813e-01 -3.41017435e-03 -4.24240627e-01] [ 3.81868039e-02 3.58164890e-03 9.99264199e-01 1.16451538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90255784399999 meters Centerline goodness : 0.361728 with order 3 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.42, Z:1.17 [[ 9.99280443e-01 7.21715179e-03 -3.72358465e-02 -5.94250967e+00] [-7.25055146e-03 9.99973424e-01 -7.62015354e-04 -4.20809074e-01] [ 3.72293574e-02 1.03144746e-03 9.99306215e-01 1.16599852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96255784399999 meters Centerline goodness : 0.350237 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.42, Z:1.17 [[ 9.99284546e-01 6.90237279e-03 -3.71853825e-02 -5.94294181e+00] [-6.94620887e-03 9.99975324e-01 -1.04978648e-03 -4.20150703e-01] [ 3.71772189e-02 1.30733284e-03 9.99307833e-01 1.16628374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02255784399999 meters Centerline goodness : 0.121132 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.42, Z:1.17 [[ 9.99321169e-01 -1.42443652e-03 -3.68126652e-02 -5.92260996e+00] [ 1.40122990e-03 9.99998803e-01 -6.56190233e-04 -4.16255420e-01] [ 3.68135559e-02 6.04161783e-04 9.99321969e-01 1.16803651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.082557844 meters Centerline goodness : 0.291774 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.42, Z:1.17 [[ 9.99332862e-01 -1.62030016e-03 -3.64856833e-02 -5.92379680e+00] [ 1.61148154e-03 9.99998665e-01 -2.71107339e-04 -4.18060890e-01] [ 3.64860739e-02 2.12130468e-04 9.99334139e-01 1.16805439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142557844 meters Centerline goodness : 0.138864 with order 3 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.42, Z:1.17 [[ 9.99299702e-01 -1.58797871e-03 -3.73842766e-02 -5.92097036e+00] [ 1.59822051e-03 9.99998693e-01 2.44077023e-04 -4.21105980e-01] [ 3.73838402e-02 -3.03654414e-04 9.99300934e-01 1.16727326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202557844 meters Centerline goodness : 0.127786 with order 2 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.42, Z:1.17 [[ 9.99334713e-01 -1.44927125e-03 -3.64421616e-02 -5.92400690e+00] [ 1.45367673e-03 9.99998939e-01 9.43936108e-05 -4.20888798e-01] [ 3.64419862e-02 -1.47305934e-04 9.99335759e-01 1.16907538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26255784399999 meters Centerline goodness : 0.314516 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.42, Z:1.17 [[ 9.99358469e-01 -9.80083277e-04 -3.58007053e-02 -5.92549461e+00] [ 9.85230301e-04 9.99999507e-01 1.26127450e-04 -4.19601004e-01] [ 3.58005640e-02 -1.61318475e-04 9.99358941e-01 1.16871864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32255784399999 meters Centerline goodness : 0.347329 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.42, Z:1.17 [[ 9.99324315e-01 -6.13189423e-05 -3.67547343e-02 -5.92212541e+00] [ 7.12773625e-05 9.99999961e-01 2.69632245e-04 -4.17010385e-01] [ 3.67547163e-02 -2.72069839e-04 9.99324280e-01 1.16692445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38255784399999 meters Centerline goodness : 0.394034 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.42, Z:1.17 [[ 9.99171402e-01 -8.76734080e-04 -4.06907840e-02 -5.96553806e+00] [ 9.04640714e-04 9.99999368e-01 6.67414166e-04 -4.17834144e-01] [ 4.06901731e-02 -7.03671688e-04 9.99171564e-01 1.16739191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44255784399999 meters Centerline goodness : 0.132086 with order 3 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.41, Z:1.17 [[ 9.99260370e-01 7.50822637e-04 -3.84467159e-02 -5.92551135e+00] [-7.32091967e-04 9.99999606e-01 5.01261339e-04 -4.14330272e-01] [ 3.84470771e-02 -4.72744059e-04 9.99260526e-01 1.16973422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502557844 meters Centerline goodness : 0.263887 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.42, Z:1.17 [[ 9.99286910e-01 -2.91514347e-03 -3.76453614e-02 -5.92793533e+00] [ 2.81664960e-03 9.99992471e-01 -2.66913233e-03 -4.16360503e-01] [ 3.76528589e-02 2.56119521e-03 9.99287597e-01 1.17035780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562557844 meters Centerline goodness : 0.136883 with order 2 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.42, Z:1.17 [[ 9.99299647e-01 -7.18249570e-03 -3.67236605e-02 -5.93121126e+00] [ 7.01294106e-03 9.99964157e-01 -4.74377354e-03 -4.23863876e-01] [ 3.67564163e-02 4.48291036e-03 9.99314200e-01 1.16996060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62255784399999 meters Centerline goodness : 0.239167 with order 3 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.43, Z:1.17 [[ 0.99923635 -0.01015962 -0.03772922 -5.92799725] [ 0.00992411 0.99993012 -0.00642414 -0.43087896] [ 0.03779185 0.00604481 0.99926735 1.16817629] [ 0. 0. 0. 1. ]] SLAMing on 106.68255784399999 meters Centerline goodness : 0.302170 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.44, Z:1.17 [[ 9.99271724e-01 -6.62077401e-04 -3.81521105e-02 -5.94460452e+00] [ 4.07262068e-04 9.99977563e-01 -6.68631627e-03 -4.41538012e-01] [ 3.81556814e-02 6.66590888e-03 9.99249573e-01 1.16724027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74255784399999 meters Centerline goodness : 0.084984 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.44, Z:1.17 [[ 9.99391978e-01 8.38501718e-04 -3.48564251e-02 -5.90425036e+00] [-1.08560270e-03 9.99974412e-01 -7.07078721e-03 -4.44594241e-01] [ 3.48496044e-02 7.10432824e-03 9.99367317e-01 1.16915022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80255784399999 meters Centerline goodness : 0.097965 with order 2 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.45, Z:1.17 [[ 9.99376357e-01 9.42787971e-04 -3.52988533e-02 -5.90269723e+00] [-1.17957771e-03 9.99976940e-01 -6.68791813e-03 -4.47220262e-01] [ 3.52917340e-02 6.72538499e-03 9.99354423e-01 1.16865365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862557844 meters Centerline goodness : 0.198340 with order 3 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.45, Z:1.17 [[ 9.99326851e-01 2.36949357e-03 -3.66091605e-02 -5.89889961e+00] [-2.56554473e-03 9.99982615e-01 -5.30920023e-03 -4.51586946e-01] [ 3.65959440e-02 5.39954879e-03 9.99315557e-01 1.16871960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922557844 meters Centerline goodness : 0.392774 with order 3 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.46, Z:1.17 [[ 9.99234426e-01 3.36662697e-04 -3.91209381e-02 -5.94430264e+00] [-5.22402134e-04 9.99988641e-01 -4.73770140e-03 -4.60919844e-01] [ 3.91188988e-02 4.75451121e-03 9.99223252e-01 1.17045592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98255784399998 meters Centerline goodness : 0.390169 with order 3 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.47, Z:1.17 [[ 9.99314100e-01 2.01435825e-03 -3.69766468e-02 -5.90220608e+00] [-2.18387868e-03 9.99987288e-01 -4.54470947e-03 -4.69107331e-01] [ 3.69670221e-02 4.62234476e-03 9.99305796e-01 1.17172736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04255784399999 meters Centerline goodness : 0.100915 with order 2 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.47, Z:1.17 [[ 9.99351096e-01 -5.85424686e-03 -3.55403192e-02 -5.88003972e+00] [ 5.72635804e-03 9.99976762e-01 -3.69914061e-03 -4.72446294e-01] [ 3.55611490e-02 3.49322363e-03 9.99361397e-01 1.17191737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10255784399999 meters Centerline goodness : 0.099515 with order 2 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.48, Z:1.17 [[ 9.99301616e-01 -8.55255249e-03 -3.63749026e-02 -5.87778208e+00] [ 8.38218152e-03 9.99953186e-01 -4.83367823e-03 -4.82313494e-01] [ 3.64145400e-02 4.52540144e-03 9.99326524e-01 1.17142762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16255784399999 meters Centerline goodness : 0.107721 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.49, Z:1.17 [[ 9.99232079e-01 2.33891787e-03 -3.91124164e-02 -5.88776850e+00] [-2.54835035e-03 9.99982678e-01 -5.30563141e-03 -4.93424492e-01] [ 3.90993294e-02 5.40122925e-03 9.99220731e-01 1.17021964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222557844 meters Centerline goodness : 0.354514 with order 2 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.50, Z:1.17 [[ 0.99919328 0.01089715 -0.03865294 -5.86673013] [-0.01119224 0.99990979 -0.00742627 -0.49957971] [ 0.03856853 0.00785289 0.9992251 1.17028233] [ 0. 0. 0. 1. ]] SLAMing on 107.282557844 meters Centerline goodness : 0.174958 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.50, Z:1.17 [[ 0.99920474 0.01116232 -0.03827913 -5.86735572] [-0.01144549 0.99990867 -0.00718634 -0.49971326] [ 0.03819541 0.00761875 0.99924124 1.16978924] [ 0. 0. 0. 1. ]] SLAMing on 107.34255784399998 meters Centerline goodness : 0.123799 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.50, Z:1.17 [[ 0.99926389 0.00726344 -0.03766855 -5.8691463 ] [-0.00768262 0.99991004 -0.01099529 -0.50067617] [ 0.0375853 0.01127659 0.9992298 1.1699667 ] [ 0. 0. 0. 1. ]] SLAMing on 107.40255784399999 meters Centerline goodness : 0.159933 with order 3 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.50, Z:1.17 [[ 9.99328671e-01 2.23783281e-04 -3.66354724e-02 -5.84996280e+00] [-5.87592882e-04 9.99950622e-01 -9.92006266e-03 -4.96399934e-01] [ 3.66314435e-02 9.93492977e-03 9.99279458e-01 1.17164129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46255784399999 meters Centerline goodness : 0.201299 with order 3 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.50, Z:1.17 [[ 9.99329715e-01 2.14060450e-04 -3.66070348e-02 -5.85009663e+00] [-5.82480817e-04 9.99949289e-01 -1.00538270e-02 -4.95435622e-01] [ 3.66030263e-02 1.00684109e-02 9.99279163e-01 1.17171271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52255784399999 meters Centerline goodness : 0.130752 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.49, Z:1.17 [[ 9.99312244e-01 6.81455727e-05 -3.70814510e-02 -5.84865424e+00] [-4.52571074e-04 9.99946244e-01 -1.03587615e-02 -4.94285578e-01] [ 3.70787517e-02 1.03684192e-02 9.99258556e-01 1.17132370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.582557844 meters Centerline goodness : 0.126523 with order 3 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.50, Z:1.17 [[ 9.99311703e-01 2.49764725e-04 -3.70952664e-02 -5.84775587e+00] [-6.12700400e-04 9.99952057e-01 -9.77283531e-03 -4.95491453e-01] [ 3.70910470e-02 9.78883698e-03 9.99263946e-01 1.16942782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.642557844 meters Centerline goodness : 0.230940 with order 3 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.50, Z:1.17 [[ 9.99341346e-01 -5.49257062e-04 -3.62846020e-02 -5.85127585e+00] [ 1.94459394e-04 9.99952146e-01 -9.78099375e-03 -4.97119966e-01] [ 3.62882379e-02 9.76749558e-03 9.99293630e-01 1.17084908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702557844 meters Centerline goodness : 0.228991 with order 3 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.50, Z:1.17 [[ 9.99359608e-01 -9.82917720e-04 -3.57688111e-02 -5.85302743e+00] [ 6.55291405e-04 9.99957739e-01 -9.17012359e-03 -5.02006366e-01] [ 3.57763130e-02 9.14081213e-03 9.99318018e-01 1.17186282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76255784399999 meters Centerline goodness : 0.388451 with order 3 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.50, Z:1.17 [[ 9.99353555e-01 -8.59572067e-04 -3.59406874e-02 -5.85225058e+00] [ 5.42683024e-04 9.99960904e-01 -8.82582596e-03 -5.03759166e-01] [ 3.59468687e-02 8.80061615e-03 9.99314951e-01 1.17134198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82255784399999 meters Centerline goodness : 0.111201 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.50, Z:1.17 [[ 9.99313525e-01 2.41550357e-03 -3.69681363e-02 -5.84843115e+00] [-2.64252371e-03 9.99977944e-01 -6.09333909e-03 -5.00708199e-01] [ 3.69526025e-02 6.18684534e-03 9.99297868e-01 1.16973567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88255784399999 meters Centerline goodness : 0.289812 with order 3 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.49, Z:1.17 [[ 0.99936531 0.00601173 -0.03511189 -5.80495061] [-0.00622752 0.99996237 -0.00603977 -0.49405422] [ 0.03507426 0.00625459 0.99936514 1.16990415] [ 0. 0. 0. 1. ]] SLAMing on 107.94255784399999 meters Centerline goodness : 0.139304 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.49, Z:1.17 [[ 0.99940946 0.00611469 -0.0338132 -5.80896121] [-0.00633732 0.99995892 -0.00648084 -0.49095836] [ 0.03377218 0.00669129 0.99940716 1.1710105 ] [ 0. 0. 0. 1. ]] SLAMing on 108.002557844 meters Centerline goodness : 0.227049 with order 3 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.48, Z:1.17 [[ 9.99451541e-01 5.75388164e-04 -3.31102036e-02 -5.79389766e+00] [-7.32741961e-04 9.99988495e-01 -4.74048845e-03 -4.80293592e-01] [ 3.31070950e-02 4.76214973e-03 9.99440465e-01 1.17451658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062557844 meters Centerline goodness : 0.131601 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.48, Z:1.17 [[ 9.99453352e-01 2.34963621e-04 -3.30596789e-02 -5.79379918e+00] [-4.17269934e-04 9.99984746e-01 -5.50766987e-03 -4.76575354e-01] [ 3.30578805e-02 5.51845393e-03 9.99438204e-01 1.17408503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12255784399999 meters Centerline goodness : 0.389352 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.48, Z:1.17 [[ 9.99458229e-01 -1.55031590e-04 -3.29123857e-02 -5.79458382e+00] [-2.96943897e-05 9.99984252e-01 -5.61209546e-03 -4.77238287e-01] [ 3.29127374e-02 5.61003230e-03 9.99442484e-01 1.17480457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18255784399999 meters Centerline goodness : 0.144311 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.48, Z:1.17 [[ 9.99431871e-01 -4.20716875e-04 -3.37010087e-02 -5.79218492e+00] [ 2.33707371e-04 9.99984556e-01 -5.55282435e-03 -4.78100655e-01] [ 3.37028244e-02 5.54179346e-03 9.99416534e-01 1.17411577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24255784399999 meters SLAMing on 108.30255784399999 meters Centerline goodness : 0.390216 with order 3 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.48, Z:1.18 [[ 9.99532360e-01 -1.17610961e-03 -3.05561412e-02 -5.74985955e+00] [ 9.33452768e-04 9.99967928e-01 -7.95439590e-03 -4.80170232e-01] [ 3.05645164e-02 7.92215339e-03 9.99501401e-01 1.17506430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362557844 meters Centerline goodness : 0.385631 with order 3 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.48, Z:1.17 [[ 9.99489623e-01 -1.35257083e-03 -3.19165213e-02 -5.74597472e+00] [ 1.10906916e-03 9.99970155e-01 -7.64580020e-03 -4.83582560e-01] [ 3.19259102e-02 7.60650033e-03 9.99461294e-01 1.17450919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422557844 meters Centerline goodness : 0.387515 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.49, Z:1.18 [[ 9.99498114e-01 -1.08809996e-03 -3.16597034e-02 -5.74712188e+00] [ 8.63122161e-04 9.99974288e-01 -7.11892364e-03 -4.85723261e-01] [ 3.16666355e-02 7.08802455e-03 9.99473353e-01 1.17532370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48255784399998 meters Centerline goodness : 0.388266 with order 3 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.48, Z:1.18 [[ 0.99950101 -0.00828382 -0.03048145 -5.72728927] [ 0.00809789 0.99994788 -0.0062183 -0.48302234] [ 0.03053138 0.00596836 0.99951599 1.17603271] [ 0. 0. 0. 1. ]] SLAMing on 108.54255784399999 meters Centerline goodness : 0.335627 with order 3 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.49, Z:1.18 [[ 9.99497599e-01 -8.01469254e-03 -3.06645420e-02 -5.72668411e+00] [ 7.84751368e-03 9.99953704e-01 -5.56833394e-03 -4.85241513e-01] [ 3.07077508e-02 5.32489599e-03 9.99514222e-01 1.17564106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60255784399999 meters Centerline goodness : 0.133241 with order 2 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.50, Z:1.17 [[ 9.99570631e-01 -5.80127923e-04 -2.92953350e-02 -5.74504478e+00] [ 3.76536585e-04 9.99975745e-01 -6.95465471e-03 -4.95521410e-01] [ 2.92986590e-02 6.94063783e-03 9.99546605e-01 1.17463935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66255784399999 meters SLAMing on 108.722557844 meters Centerline goodness : 0.362604 with order 3 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.50, Z:1.18 [[ 9.99559234e-01 -3.43076583e-03 -2.94884296e-02 -5.68306377e+00] [ 3.25929098e-03 9.99977512e-01 -5.86108806e-03 -4.96975664e-01] [ 2.95078744e-02 5.76239332e-03 9.99547938e-01 1.17584892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.782557844 meters Centerline goodness : 0.125065 with order 3 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.50, Z:1.18 [[ 9.99546498e-01 -3.57706218e-03 -2.98998894e-02 -5.68166766e+00] [ 3.39224212e-03 9.99974841e-01 -6.22973739e-03 -4.95439323e-01] [ 2.99214214e-02 6.12548452e-03 9.99533485e-01 1.17530377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84255784399998 meters Centerline goodness : 0.220176 with order 3 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.49, Z:1.18 [[ 9.99551314e-01 5.46362327e-04 -2.99478390e-02 -5.68187588e+00] [-6.18766458e-04 9.99996908e-01 -2.40846054e-03 -4.94090590e-01] [ 2.99464305e-02 2.42591061e-03 9.99548561e-01 1.17578378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90255784399999 meters Centerline goodness : 0.124684 with order 3 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.49, Z:1.18 [[ 9.99581277e-01 2.25110901e-03 -2.88479169e-02 -5.68675285e+00] [-2.29923027e-03 9.99996020e-01 -1.63503907e-03 -4.86452878e-01] [ 2.88441215e-02 1.70068244e-03 9.99582475e-01 1.17807420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96255784399999 meters Centerline goodness : 0.194426 with order 3 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.48, Z:1.18 [[ 9.99581820e-01 2.00800881e-03 -2.88470707e-02 -5.68627385e+00] [-2.08381180e-03 9.99994454e-01 -2.59793172e-03 -4.81010784e-01] [ 2.88416940e-02 2.65695718e-03 9.99580461e-01 1.17718404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02255784399999 meters Centerline goodness : 0.125367 with order 3 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.48, Z:1.18 [[ 9.99581960e-01 1.83994319e-03 -2.88534086e-02 -5.68646285e+00] [-1.92062787e-03 9.99994322e-01 -2.76890093e-03 -4.80769134e-01] [ 2.88481502e-02 2.82316008e-03 9.99579819e-01 1.17748711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082557844 meters Centerline goodness : 0.401079 with order 3 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.48, Z:1.18 [[ 9.99573159e-01 1.63105108e-03 -2.91691572e-02 -5.68553602e+00] [-1.72141980e-03 9.99993796e-01 -3.07324818e-03 -4.79290793e-01] [ 2.91639636e-02 3.12214876e-03 9.99569765e-01 1.17713061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142557844 meters Centerline goodness : 0.347441 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.47, Z:1.18 [[ 9.99493751e-01 -4.92217174e-03 -3.14326997e-02 -5.66570773e+00] [ 4.82449355e-03 9.99983297e-01 -3.18262132e-03 -4.73642680e-01] [ 3.14478401e-02 3.02936326e-03 9.99500804e-01 1.17867077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202557844 meters SLAMing on 109.26255784399999 meters Centerline goodness : 0.106001 with order 1 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.48, Z:1.18 [[ 9.99654315e-01 1.52529799e-03 -2.62473615e-02 -5.69106651e+00] [-1.60031918e-03 9.99994694e-01 -2.83746938e-03 -4.84155580e-01] [ 2.62428942e-02 2.87849266e-03 9.99651452e-01 1.17907094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32255784399999 meters Centerline goodness : 0.116399 with order 2 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.48, Z:1.18 [[ 9.99653575e-01 1.47042658e-03 -2.62786597e-02 -5.69040658e+00] [-1.54894387e-03 9.99994397e-01 -2.96776684e-03 -4.83960278e-01] [ 2.62741486e-02 3.00744290e-03 9.99650251e-01 1.17823294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38255784399999 meters SLAMing on 109.44255784399999 meters Centerline goodness : 0.232569 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.48, Z:1.18 [[ 9.99640341e-01 7.50661195e-03 -2.57456743e-02 -5.64247383e+00] [-7.53498820e-03 9.99971106e-01 -1.00533834e-03 -4.79089912e-01] [ 2.57373837e-02 1.19897011e-03 9.99668020e-01 1.17636851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502557844 meters Centerline goodness : 0.147174 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.48, Z:1.18 [[ 9.99631424e-01 7.55860018e-03 -2.60745726e-02 -5.64136829e+00] [-7.57842747e-03 9.99971064e-01 -6.61670392e-04 -4.81340443e-01] [ 2.60688168e-02 8.59030774e-04 9.99659782e-01 1.17604195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562557844 meters Centerline goodness : 0.366659 with order 2 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.48, Z:1.18 [[ 9.99637747e-01 7.57555413e-03 -2.58260546e-02 -5.64247349e+00] [-7.58826279e-03 9.99971131e-01 -3.94116807e-04 -4.82739598e-01] [ 2.58223234e-02 5.89948926e-04 9.99666374e-01 1.17678595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62255784399999 meters Centerline goodness : 0.362236 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.48, Z:1.18 [[ 9.99651002e-01 7.56768163e-03 -2.53101752e-02 -5.64355197e+00] [-7.58423743e-03 9.99971083e-01 -5.58184618e-04 -4.81321462e-01] [ 2.53052192e-02 7.49948191e-04 9.99679490e-01 1.17644188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68255784399999 meters Centerline goodness : 0.322022 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.48, Z:1.18 [[ 9.99646125e-01 7.16575564e-03 -2.56178827e-02 -5.64246647e+00] [-7.20274197e-03 9.99973146e-01 -1.35178593e-03 -4.77989006e-01] [ 2.56075082e-02 1.53582656e-03 9.99670894e-01 1.17592101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74255784399999 meters Centerline goodness : 0.395173 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:-0.47, Z:1.17 [[ 9.99607152e-01 -2.18517491e-03 -2.79422077e-02 -5.66025216e+00] [ 2.19202157e-03 9.99997575e-01 2.14400777e-04 -4.73585167e-01] [ 2.79416715e-02 -2.75566472e-04 9.99609517e-01 1.17411231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80255784399999 meters Centerline goodness : 0.157371 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:-0.47, Z:1.17 [[ 9.99587493e-01 -3.51499471e-03 -2.85041983e-02 -5.65883337e+00] [ 3.50010004e-03 9.99993711e-01 -5.72420170e-04 -4.74018405e-01] [ 2.85060311e-02 4.72416496e-04 9.99593509e-01 1.17428257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862557844 meters Centerline goodness : 0.142472 with order 2 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.48, Z:1.18 [[ 9.99676861e-01 -3.94956760e-03 -2.51112488e-02 -5.62423616e+00] [ 3.89886508e-03 9.99990262e-01 -2.06775613e-03 -4.75835937e-01] [ 2.51191710e-02 1.96918259e-03 9.99682524e-01 1.17778873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922557844 meters Centerline goodness : 0.153217 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.48, Z:1.18 [[ 9.99777888e-01 1.10976209e-03 -2.10461905e-02 -5.60472046e+00] [-1.23341335e-03 9.99982051e-01 -5.86316200e-03 -4.83142052e-01] [ 2.10393060e-02 5.88781838e-03 9.99761312e-01 1.17707520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98255784399998 meters Centerline goodness : 0.134637 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.49, Z:1.18 [[ 9.99764667e-01 1.36684778e-03 -2.16504666e-02 -5.60285967e+00] [-1.47815812e-03 9.99985769e-01 -5.12607577e-03 -4.86956365e-01] [ 2.16431520e-02 5.15687224e-03 9.99752460e-01 1.17656229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04255784399999 meters Centerline goodness : 0.388445 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.49, Z:1.18 [[ 9.99789933e-01 2.50129479e-03 -2.03428926e-02 -5.60686429e+00] [-2.57898787e-03 9.99989478e-01 -3.79383803e-03 -4.91424390e-01] [ 2.03331891e-02 3.84550514e-03 9.99785864e-01 1.17772026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10255784399999 meters Centerline goodness : 0.124020 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.49, Z:1.18 [[ 9.99765724e-01 7.29365129e-03 -2.03788962e-02 -5.60688814e+00] [-7.29553523e-03 9.99973387e-01 -1.81007384e-05 -4.88395409e-01] [ 2.03782219e-02 1.66771453e-04 9.99792329e-01 1.17797258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16255784399999 meters Centerline goodness : 0.124523 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.48, Z:1.18 [[ 9.99725339e-01 1.10897564e-02 -2.06461825e-02 -5.60554582e+00] [-1.10370890e-02 9.99935543e-01 2.66315663e-03 -4.82611424e-01] [ 2.06743855e-02 -2.43455141e-03 9.99783298e-01 1.17707316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222557844 meters Centerline goodness : 0.156750 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.47, Z:1.18 [[ 9.99679681e-01 1.48906701e-02 -2.04646614e-02 -5.60578220e+00] [-1.47888936e-02 9.99877552e-01 5.11566112e-03 -4.74085954e-01] [ 2.05383311e-02 -4.81137278e-03 9.99777489e-01 1.17661464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282557844 meters Centerline goodness : 0.122501 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.47, Z:1.18 [[ 9.99677514e-01 1.43953964e-02 -2.09198613e-02 -5.60439865e+00] [-1.43117351e-02 9.99888997e-01 4.14337090e-03 -4.69873818e-01] [ 2.09771846e-02 -3.84263521e-03 9.99772570e-01 1.17615953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34255784399998 meters Centerline goodness : 0.389761 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.46, Z:1.17 [[ 9.99877972e-01 1.04148387e-03 -1.55870845e-02 -5.60159301e+00] [-9.60846588e-04 9.99986122e-01 5.17993455e-03 -4.58386154e-01] [ 1.55922630e-02 -5.16432565e-03 9.99865096e-01 1.17440381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40255784399999 meters Centerline goodness : 0.139606 with order 2 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.46, Z:1.17 [[ 9.99876857e-01 5.60899606e-04 -1.56829764e-02 -5.60123985e+00] [-4.89664806e-04 9.99989549e-01 4.54564459e-03 -4.55886791e-01] [ 1.56853621e-02 -4.53740542e-03 9.99866682e-01 1.17410852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46255784399999 meters Centerline goodness : 0.149616 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.45, Z:1.18 [[ 9.99821064e-01 -5.89958829e-03 -1.79731692e-02 -5.58265460e+00] [ 5.98052160e-03 9.99972204e-01 4.45259114e-03 -4.46549590e-01] [ 1.79464012e-02 -4.55928333e-03 9.99828555e-01 1.17654482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52255784399999 meters Centerline goodness : 0.131940 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.45, Z:1.18 [[ 9.99830357e-01 -6.39685472e-03 -1.72724371e-02 -5.58487724e+00] [ 6.47050069e-03 9.99970198e-01 4.21127168e-03 -4.45789240e-01] [ 1.72449835e-02 -4.32231859e-03 9.99841952e-01 1.17666835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.582557844 meters Centerline goodness : 0.156565 with order 1 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.44, Z:1.17 [[ 9.99851706e-01 3.72696448e-04 -1.72170812e-02 -5.56141666e+00] [-3.57090287e-04 9.99999523e-01 9.09500084e-04 -4.44768972e-01] [ 1.72174119e-02 -9.03217158e-04 9.99851361e-01 1.17472019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642557844 meters Centerline goodness : 0.154433 with order 1 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.44, Z:1.17 [[ 9.99855163e-01 2.66154342e-04 -1.70171230e-02 -5.56193284e+00] [-2.57571384e-04 9.99999839e-01 5.06561603e-04 -4.42680299e-01] [ 1.70172551e-02 -5.02105110e-04 9.99855070e-01 1.17474106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.702557844 meters Centerline goodness : 0.135841 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.44, Z:1.18 [[ 9.99877021e-01 1.00974851e-03 -1.56500534e-02 -5.56699537e+00] [-9.98829013e-04 9.99999252e-01 7.05529689e-04 -4.39648977e-01] [ 1.56507541e-02 -6.89811196e-04 9.99877281e-01 1.17690424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76255784399999 meters Centerline goodness : 0.342145 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.44, Z:1.18 [[ 9.99880606e-01 9.16067503e-04 -1.54251310e-02 -5.56734116e+00] [-9.16367118e-04 9.99999580e-01 -1.23558662e-05 -4.35871939e-01] [ 1.54251132e-02 2.64894738e-05 9.99881026e-01 1.17651825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82255784399999 meters Centerline goodness : 0.136020 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.43, Z:1.18 [[ 9.99875451e-01 4.87700179e-03 -1.50099175e-02 -5.56859930e+00] [-4.82642449e-03 9.99982559e-01 3.40397375e-03 -4.32367562e-01] [ 1.50262569e-02 -3.33110556e-03 9.99881551e-01 1.17692272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88255784399999 meters SLAMing on 110.94255784399999 meters Centerline goodness : 0.128455 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.43, Z:1.18 [[ 9.99875465e-01 4.75109798e-03 -1.50492952e-02 -5.56913912e+00] [-4.70284678e-03 9.99983693e-01 3.23997825e-03 -4.31800807e-01] [ 1.50644433e-02 -3.16880023e-03 9.99881504e-01 1.17792346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002557844 meters Centerline goodness : 0.135673 with order 3 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.43, Z:1.18 [[ 9.99870069e-01 4.63884489e-03 -1.54378275e-02 -5.56766514e+00] [-4.58832277e-03 9.99984007e-01 3.30643036e-03 -4.32721244e-01] [ 1.54529186e-02 -3.23516701e-03 9.99875363e-01 1.17708306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062557844 meters Centerline goodness : 0.160936 with order 3 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.43, Z:1.18 [[ 9.99864542e-01 4.61871858e-03 -1.57976411e-02 -5.56649555e+00] [-4.56791862e-03 9.99984285e-01 3.25024142e-03 -4.32567711e-01] [ 1.58124048e-02 -3.17763881e-03 9.99869927e-01 1.17669523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12255784399999 meters Centerline goodness : 0.148272 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.43, Z:1.18 [[ 9.99862778e-01 4.78747328e-03 -1.58589266e-02 -5.56600954e+00] [-4.74233167e-03 9.99984600e-01 2.88283250e-03 -4.29975805e-01] [ 1.58724838e-02 -2.80722862e-03 9.99870083e-01 1.17603025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18255784399999 meters SLAMing on 111.24255784399999 meters Centerline goodness : 0.395199 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.42, Z:1.18 [[ 9.99840663e-01 7.85933401e-03 -1.60274567e-02 -5.56474317e+00] [-7.78915371e-03 9.99959823e-01 4.43648872e-03 -4.20950924e-01] [ 1.60616806e-02 -4.31094150e-03 9.99861710e-01 1.17548141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30255784399999 meters Centerline goodness : 0.121362 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.41, Z:1.18 [[ 9.99794023e-01 6.08275150e-03 -1.93626606e-02 -5.60883161e+00] [-6.00491919e-03 9.99973666e-01 4.07531817e-03 -4.14693861e-01] [ 1.93869398e-02 -3.95820753e-03 9.99804220e-01 1.17615755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362557844 meters Centerline goodness : 0.397291 with order 3 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.41, Z:1.18 [[ 9.99845071e-01 5.73622626e-03 -1.66411862e-02 -5.56594166e+00] [-5.70858115e-03 9.99982247e-01 1.70827330e-03 -4.07079625e-01] [ 1.66506898e-02 -1.61301108e-03 9.99860067e-01 1.17557397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422557844 meters Centerline goodness : 0.345403 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.40, Z:1.18 [[ 9.99865923e-01 -2.43255393e-03 -1.61931848e-02 -5.54503404e+00] [ 2.47469577e-03 9.99993602e-01 2.58291370e-03 -4.01955897e-01] [ 1.61867981e-02 -2.62264060e-03 9.99865546e-01 1.17676078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48255784399998 meters Centerline goodness : 0.123587 with order 3 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.40, Z:1.18 [[ 9.99867337e-01 -2.49607158e-03 -1.60959000e-02 -5.54546931e+00] [ 2.54209183e-03 9.99992738e-01 2.83930314e-03 -4.03646908e-01] [ 1.60886960e-02 -2.87984372e-03 9.99866421e-01 1.17719381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54255784399999 meters Centerline goodness : 0.140288 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.40, Z:1.18 [[ 9.99868307e-01 -2.41040356e-03 -1.60486596e-02 -5.54612193e+00] [ 2.45793909e-03 9.99992649e-01 2.94289756e-03 -4.03819975e-01] [ 1.60414480e-02 -2.98195662e-03 9.99866881e-01 1.17814757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60255784399999 meters Centerline goodness : 0.138899 with order 1 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.41, Z:1.18 [[ 9.99877527e-01 6.16881027e-03 -1.43831843e-02 -5.52542237e+00] [-6.15437975e-03 9.99980513e-01 1.04733776e-03 -4.06603883e-01] [ 1.43893648e-02 -9.58689913e-04 9.99896008e-01 1.17782461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66255784399999 meters Centerline goodness : 0.140121 with order 1 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.41, Z:1.18 [[ 9.99877221e-01 6.32500541e-03 -1.43365848e-02 -5.52563032e+00] [-6.30750501e-03 9.99979307e-01 1.26556946e-03 -4.07461600e-01] [ 1.43442928e-02 -1.17498599e-03 9.99896425e-01 1.17801750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722557844 meters Centerline goodness : 0.231301 with order 3 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.41, Z:1.18 [[ 9.99879836e-01 6.44785262e-03 -1.40974868e-02 -5.52665841e+00] [-6.42780786e-03 9.99978266e-01 1.46671595e-03 -4.08300374e-01] [ 1.41066375e-02 -1.37592376e-03 9.99899550e-01 1.17880589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782557844 meters Centerline goodness : 0.213801 with order 3 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.41, Z:1.18 [[ 9.99930194e-01 -9.73770771e-04 -1.17753107e-02 -5.50787880e+00] [ 1.00506643e-03 9.99995978e-01 2.65210969e-03 -4.07856618e-01] [ 1.17726808e-02 -2.66375952e-03 9.99927152e-01 1.17975841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84255784399998 meters Centerline goodness : 0.137658 with order 1 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.41, Z:1.18 [[ 9.99931546e-01 -8.09601420e-04 -1.16725184e-02 -5.50848035e+00] [ 8.45887006e-04 9.99994825e-01 3.10403213e-03 -4.10009106e-01] [ 1.16699449e-02 -3.11369328e-03 9.99927056e-01 1.18041031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90255784399999 meters Centerline goodness : 0.093039 with order 1 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.41, Z:1.18 [[ 9.99929421e-01 -7.32606395e-04 -1.18582161e-02 -5.50781335e+00] [ 7.72595012e-04 9.99994030e-01 3.36799915e-03 -4.11525450e-01] [ 1.18556778e-02 -3.37692304e-03 9.99924017e-01 1.18012044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96255784399999 meters Centerline goodness : 0.133730 with order 1 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.42, Z:1.18 [[ 9.99897624e-01 8.73911819e-03 -1.13300411e-02 -5.48744024e+00] [-8.71233923e-03 9.99959141e-01 2.41074293e-03 -4.15193758e-01] [ 1.13506460e-02 -2.31178496e-03 9.99932907e-01 1.18040404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02255784399999 meters SLAMing on 112.082557844 meters Centerline goodness : 0.135497 with order 1 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.41, Z:1.18 [[ 9.99868137e-01 4.91985432e-03 -1.54758803e-02 -5.46243285e+00] [-4.85785891e-03 9.99980036e-01 4.04098188e-03 -4.05121968e-01] [ 1.54954524e-02 -3.96526939e-03 9.99872076e-01 1.17887267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142557844 meters Centerline goodness : 0.136118 with order 1 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.40, Z:1.18 [[ 9.99868568e-01 4.67863491e-03 -1.55227739e-02 -5.46221723e+00] [-4.62413274e-03 9.99983025e-01 3.54514680e-03 -4.02913695e-01] [ 1.55390969e-02 -3.47290149e-03 9.99873230e-01 1.17865412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202557844 meters Centerline goodness : 0.138609 with order 1 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.40, Z:1.18 [[ 9.99858558e-01 4.32231237e-03 -1.62536680e-02 -5.45948898e+00] [-4.27401809e-03 9.99986352e-01 3.00484847e-03 -4.00991616e-01] [ 1.62664340e-02 -2.93495499e-03 9.99863385e-01 1.17709941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26255784399999 meters Centerline goodness : 0.242241 with order 3 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.40, Z:1.18 [[ 9.99857522e-01 4.11667959e-03 -1.63703616e-02 -5.45937761e+00] [-4.07546007e-03 9.99988443e-01 2.55050010e-03 -3.98878295e-01] [ 1.63806720e-02 -2.48341996e-03 9.99862744e-01 1.17737934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32255784399999 meters Centerline goodness : 0.210404 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.39, Z:1.18 [[ 9.99886604e-01 5.52209225e-03 -1.40101909e-02 -5.41625443e+00] [-5.50344515e-03 9.99983919e-01 1.36917252e-03 -3.93193005e-01] [ 1.40175263e-02 -1.29191295e-03 9.99900915e-01 1.17676885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38255784399999 meters Centerline goodness : 0.139819 with order 1 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.39, Z:1.18 [[ 9.99886615e-01 5.30769131e-03 -1.40920162e-02 -5.41539556e+00] [-5.30054039e-03 9.99985804e-01 5.44746356e-04 -3.89073812e-01] [ 1.40947075e-02 -4.69989290e-04 9.99900554e-01 1.17560461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44255784399999 meters Centerline goodness : 0.137548 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.38, Z:1.17 [[ 9.99855719e-01 8.39441817e-03 -1.47673370e-02 -5.41274765e+00] [-8.35983846e-03 9.99962171e-01 2.40180924e-03 -3.80597295e-01] [ 1.47869402e-02 -2.27801015e-03 9.99888072e-01 1.17418790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502557844 meters Centerline goodness : 0.137169 with order 1 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.37, Z:1.18 [[ 9.99864091e-01 1.04472413e-02 -1.27536174e-02 -5.42013292e+00] [-1.03983759e-02 9.99938362e-01 3.89181666e-03 -3.73432250e-01] [ 1.27934900e-02 -3.75867082e-03 9.99911096e-01 1.17718796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562557844 meters Centerline goodness : 0.376158 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.36, Z:1.18 [[ 9.99925993e-01 8.96853964e-04 -1.21327870e-02 -5.40361378e+00] [-8.59303547e-04 9.99994826e-01 3.09981307e-03 -3.63122540e-01] [ 1.21355043e-02 -3.08915791e-03 9.99921590e-01 1.17806566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62255784399999 meters Centerline goodness : 0.185136 with order 3 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.36, Z:1.18 [[ 9.99939036e-01 2.87375171e-04 -1.10382367e-02 -5.40683669e+00] [-2.57533749e-04 9.99996309e-01 2.70478535e-03 -3.61627143e-01] [ 1.10389732e-02 -2.70177774e-03 9.99935419e-01 1.17823149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68255784399999 meters Centerline goodness : 0.139434 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.36, Z:1.18 [[ 9.99943527e-01 2.46026561e-04 -1.06245746e-02 -5.40843847e+00] [-2.17740377e-04 9.99996429e-01 2.66341042e-03 -3.61226209e-01] [ 1.06251919e-02 -2.66094661e-03 9.99940011e-01 1.17923800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74255784399999 meters Centerline goodness : 0.250907 with order 3 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.36, Z:1.18 [[ 9.99940653e-01 1.61067159e-05 -1.08945481e-02 -5.40736485e+00] [ 7.57774855e-06 9.99997637e-01 2.17392924e-03 -3.59340017e-01] [ 1.08945573e-02 -2.17388278e-03 9.99938290e-01 1.17854986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80255784399999 meters Centerline goodness : 0.142514 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.36, Z:1.18 [[ 9.99941007e-01 7.47107970e-05 -1.08617269e-02 -5.40764675e+00] [-4.98884597e-05 9.99997387e-01 2.28555599e-03 -3.59698363e-01] [ 1.08618693e-02 -2.28487929e-03 9.99938398e-01 1.17889749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862557844 meters Centerline goodness : 0.140082 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.36, Z:1.18 [[ 9.99942233e-01 1.35991589e-04 -1.07476217e-02 -5.40802322e+00] [-1.10190058e-04 9.99997111e-01 2.40122917e-03 -3.60102570e-01] [ 1.07479172e-02 -2.39990618e-03 9.99939360e-01 1.17908437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922557844 meters Centerline goodness : 0.140025 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.36, Z:1.18 [[ 9.99938123e-01 6.34623773e-05 -1.11241655e-02 -5.40661173e+00] [-3.72896454e-05 9.99997231e-01 2.35297324e-03 -3.60487546e-01] [ 1.11242840e-02 -2.35241283e-03 9.99935356e-01 1.17831303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98255784399998 meters Centerline goodness : 0.122340 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.35, Z:1.18 [[ 9.99915388e-01 2.63067055e-03 -1.27395983e-02 -5.40044013e+00] [-2.57977840e-03 9.99988634e-01 4.00958686e-03 -3.54590408e-01] [ 1.27500014e-02 -3.97638226e-03 9.99910809e-01 1.17587606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04255784399999 meters Centerline goodness : 0.138356 with order 1 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.35, Z:1.18 [[ 9.99919314e-01 2.36913247e-03 -1.24801091e-02 -5.40131841e+00] [-2.32673455e-03 9.99991477e-01 3.41066456e-03 -3.52091895e-01] [ 1.24880830e-02 -3.38135147e-03 9.99916304e-01 1.17616422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10255784399999 meters Centerline goodness : 0.129482 with order 1 Centerline is valid? [False, False] Translation: X:-5.45, Y:-0.35, Z:1.18 [[ 9.99882331e-01 2.66450306e-04 -1.53379467e-02 -5.44659385e+00] [-2.18059746e-04 9.99994994e-01 3.15654276e-03 -3.51817652e-01] [ 1.53387110e-02 -3.15282674e-03 9.99877384e-01 1.17739513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16255784399999 meters Centerline goodness : 0.237978 with order 3 Centerline is valid? [False, False] Translation: X:-5.45, Y:-0.35, Z:1.18 [[ 9.99880652e-01 1.82515640e-04 -1.54482280e-02 -5.44603203e+00] [-1.36357870e-04 9.99995524e-01 2.98890117e-03 -3.51010171e-01] [ 1.54487044e-02 -2.98643797e-03 9.99876202e-01 1.17683590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222557844 meters Centerline goodness : 0.144686 with order 1 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.35, Z:1.18 [[ 9.99910134e-01 8.56478163e-04 -1.33787023e-02 -5.40072719e+00] [-8.30261450e-04 9.99997725e-01 1.96501687e-03 -3.46154724e-01] [ 1.33803549e-02 -1.95373246e-03 9.99908570e-01 1.17522114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.282557844 meters Centerline goodness : 0.121919 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.35, Z:1.18 [[ 9.99905189e-01 2.41560841e-04 -1.37679060e-02 -5.40034994e+00] [-2.20868243e-04 9.99998844e-01 1.50445975e-03 -3.45565404e-01] [ 1.37682535e-02 -1.50127622e-03 9.99904086e-01 1.17623363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34255784399998 meters Centerline goodness : 0.208772 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.34, Z:1.18 [[ 9.99903807e-01 2.16944478e-04 -1.38682908e-02 -5.39976869e+00] [-1.97669824e-04 9.99999013e-01 1.39119199e-03 -3.44545860e-01] [ 1.38685789e-02 -1.38831683e-03 9.99902863e-01 1.17561757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40255784399999 meters Centerline goodness : 0.122588 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.34, Z:1.18 [[ 9.99918197e-01 7.36480275e-03 -1.04574565e-02 -5.38069342e+00] [-7.38363493e-03 9.99971186e-01 -1.76337242e-03 -3.43632264e-01] [ 1.04441683e-02 1.84044221e-03 9.99943764e-01 1.17565864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46255784399999 meters Centerline goodness : 0.138970 with order 2 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.34, Z:1.17 [[ 9.99970422e-01 -8.98216314e-04 -7.63861776e-03 -5.40339400e+00] [ 8.92184710e-04 9.99999288e-01 -7.92990712e-04 -3.38292955e-01] [ 7.63932460e-03 7.86152199e-04 9.99970511e-01 1.17453508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52255784399999 meters Centerline goodness : 0.211336 with order 3 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.34, Z:1.17 [[ 9.99975793e-01 -7.05237314e-04 -6.92221313e-03 -5.40541112e+00] [ 6.99442757e-04 9.99999403e-01 -8.39481249e-04 -3.37161736e-01] [ 6.92280103e-03 8.34619236e-04 9.99975689e-01 1.17498429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.582557844 meters Centerline goodness : 0.296950 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.34, Z:1.17 [[ 9.99976192e-01 -6.22608277e-04 -6.87225330e-03 -5.40536970e+00] [ 6.15686758e-04 9.99999301e-01 -1.00923846e-03 -3.35959849e-01] [ 6.87287686e-03 1.00498328e-03 9.99975876e-01 1.17465537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642557844 meters Centerline goodness : 0.144369 with order 2 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.33, Z:1.17 [[ 9.99974482e-01 -1.70513301e-04 -7.14191738e-03 -5.40444685e+00] [ 1.61204247e-04 9.99999137e-01 -1.30399447e-03 -3.33254860e-01] [ 7.14213356e-03 1.30280989e-03 9.99973646e-01 1.17402125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702557844 meters Centerline goodness : 0.348681 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.33, Z:1.17 [[ 9.99977445e-01 4.07265399e-04 -6.70400559e-03 -5.40570510e+00] [-4.17869246e-04 9.99998664e-01 -1.58039337e-03 -3.28764027e-01] [ 6.70335299e-03 1.58315912e-03 9.99976279e-01 1.17382861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76255784399999 meters Centerline goodness : 0.352834 with order 1 Centerline is valid? [False, False] Translation: X:-5.43, Y:-0.32, Z:1.17 [[ 9.99930218e-01 8.94742254e-03 -7.71382096e-03 -5.42709826e+00] [-8.96826586e-03 9.99956215e-01 -2.67173172e-03 -3.24564437e-01] [ 7.68957809e-03 2.74072488e-03 9.99966679e-01 1.17308618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82255784399999 meters Centerline goodness : 0.347983 with order 1 Centerline is valid? [False, False] Translation: X:-5.43, Y:-0.32, Z:1.17 [[ 9.99930149e-01 8.55954168e-03 -8.15053238e-03 -5.42539116e+00] [-8.58721092e-03 9.99957465e-01 -3.36585424e-03 -3.21886811e-01] [ 8.12137552e-03 3.43560948e-03 9.99961119e-01 1.17191453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88255784399999 meters Centerline goodness : 0.323639 with order 1 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.32, Z:1.17 [[ 9.99942721e-01 -1.49335922e-03 -1.05982930e-02 -5.44422867e+00] [ 1.46451394e-03 9.99995204e-01 -2.72893003e-03 -3.16347277e-01] [ 1.06023174e-02 2.71325237e-03 9.99940113e-01 1.17065128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94255784399999 meters Centerline goodness : 0.129928 with order 3 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.32, Z:1.17 [[ 9.99943478e-01 -1.85111281e-03 -1.04696852e-02 -5.44458104e+00] [ 1.81909590e-03 9.99993643e-01 -3.06675581e-03 -3.15406398e-01] [ 1.04752956e-02 3.04753711e-03 9.99940489e-01 1.17074133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002557844 meters Centerline goodness : 0.221966 with order 3 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.31, Z:1.17 [[ 9.99943255e-01 -2.06051175e-03 -1.04518183e-02 -5.44468370e+00] [ 2.02256175e-03 9.99991329e-01 -3.64021869e-03 -3.12743240e-01] [ 1.04592284e-02 3.61887268e-03 9.99938752e-01 1.17084087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062557844 meters Centerline goodness : 0.131383 with order 3 Centerline is valid? [False, False] Translation: X:-5.45, Y:-0.31, Z:1.17 [[ 9.99943987e-01 1.52960170e-03 -1.04729546e-02 -5.44537347e+00] [-1.53906594e-03 9.99998415e-01 -8.95684140e-04 -3.06757451e-01] [ 1.04715680e-02 9.11752538e-04 9.99944756e-01 1.17177805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12255784399999 meters Centerline goodness : 0.187155 with order 3 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.30, Z:1.17 [[ 9.99963871e-01 -4.03313249e-03 -7.48271021e-03 -5.46907048e+00] [ 4.04634035e-03 9.99990281e-01 1.75081889e-03 -2.97961565e-01] [ 7.47557620e-03 -1.78103323e-03 9.99970471e-01 1.17177337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18255784399999 meters Centerline goodness : 0.151613 with order 1 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.30, Z:1.17 [[ 9.99952482e-01 2.97789364e-03 -9.28259809e-03 -5.48760718e+00] [-2.98298343e-03 9.99995408e-01 -5.34518365e-04 -2.97489042e-01] [ 9.28096373e-03 5.62182802e-04 9.99956773e-01 1.17050686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24255784399999 meters Centerline goodness : 0.132067 with order 3 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.30, Z:1.17 [[ 9.99951291e-01 2.66992896e-03 -9.50199052e-03 -5.48718865e+00] [-2.67737980e-03 9.99996118e-01 -7.71501050e-04 -2.96920062e-01] [ 9.49989378e-03 7.96903908e-04 9.99954557e-01 1.17070341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30255784399999 meters Centerline goodness : 0.126702 with order 3 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.29, Z:1.17 [[ 9.99943963e-01 -5.07664548e-03 -9.28967715e-03 -5.46916737e+00] [ 5.08313437e-03 9.99986853e-01 6.75027706e-04 -2.89199999e-01] [ 9.28612814e-03 -7.22210557e-04 9.99956622e-01 1.17263796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362557844 meters Centerline goodness : 0.136500 with order 3 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.29, Z:1.17 [[ 9.99975219e-01 8.86735103e-04 -6.98391151e-03 -5.48669824e+00] [-8.91007451e-04 9.99999418e-01 -6.08653846e-04 -2.91009331e-01] [ 6.98336773e-03 6.14861480e-04 9.99975427e-01 1.17053865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.422557844 meters Centerline goodness : 0.126621 with order 3 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.29, Z:1.17 [[ 9.99976150e-01 8.78666641e-04 -6.85029600e-03 -5.48697744e+00] [-8.82742652e-04 9.99999435e-01 -5.92011554e-04 -2.91081647e-01] [ 6.84977195e-03 5.98044484e-04 9.99976361e-01 1.17040124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48255784399998 meters Centerline goodness : 0.227057 with order 3 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.29, Z:1.17 [[ 9.99976445e-01 8.37585145e-04 -6.81229251e-03 -5.48711761e+00] [-8.42471801e-04 9.99999390e-01 -7.14491057e-04 -2.90615943e-01] [ 6.81168991e-03 7.20213392e-04 9.99976541e-01 1.17053918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54255784399999 meters Centerline goodness : 0.218761 with order 3 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.29, Z:1.17 [[ 9.99975173e-01 8.17862781e-04 -6.99895666e-03 -5.48628613e+00] [-8.26780057e-04 9.99998850e-01 -1.27128797e-03 -2.87645161e-01] [ 6.99790887e-03 1.27704300e-03 9.99974699e-01 1.16978910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60255784399999 meters Centerline goodness : 0.142681 with order 3 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.28, Z:1.17 [[ 9.99965106e-01 4.65560309e-03 -6.93625945e-03 -5.48619659e+00] [-4.64454310e-03 9.99987918e-01 1.60977388e-03 -2.81891197e-01] [ 6.94367012e-03 -1.57750195e-03 9.99974648e-01 1.16937800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66255784399999 meters SLAMing on 114.722557844 meters Centerline goodness : 0.225343 with order 3 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.27, Z:1.17 [[ 9.99919314e-01 5.39045779e-03 -1.15025845e-02 -5.52695350e+00] [-5.37097908e-03 9.99984091e-01 1.72364012e-03 -2.70848235e-01] [ 1.15116928e-02 -1.66172091e-03 9.99932358e-01 1.16913252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782557844 meters Centerline goodness : 0.151755 with order 3 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.27, Z:1.17 [[ 9.99921353e-01 5.08382667e-03 -1.14648691e-02 -5.52729881e+00] [-5.07274645e-03 9.99986638e-01 9.95323141e-04 -2.67279643e-01] [ 1.14697760e-02 -9.37086488e-04 9.99933781e-01 1.16942502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84255784399998 meters Centerline goodness : 0.131219 with order 3 Centerline is valid? [False, False] Translation: X:-5.53, Y:-0.26, Z:1.17 [[ 9.99926892e-01 4.69007325e-03 -1.11451660e-02 -5.52836256e+00] [-4.68700797e-03 9.99988971e-01 3.01135266e-04 -2.64047789e-01] [ 1.11464554e-02 -2.48875768e-04 9.99937845e-01 1.16975510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90255784399999 meters Centerline goodness : 0.134955 with order 3 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.26, Z:1.17 [[ 9.99921176e-01 -5.15613466e-03 -1.14480120e-02 -5.55136249e+00] [ 5.16383078e-03 9.99986461e-01 6.42809636e-04 -2.60222816e-01] [ 1.14445426e-02 -7.01874563e-04 9.99934263e-01 1.16984354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96255784399999 meters Centerline goodness : 0.133989 with order 3 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.26, Z:1.17 [[ 9.99920672e-01 -5.24019696e-03 -1.14537976e-02 -5.55163619e+00] [ 5.24961783e-03 9.99985907e-01 7.92600338e-04 -2.61079693e-01] [ 1.14494828e-02 -8.52665522e-04 9.99934089e-01 1.17038045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02255784399999 meters Centerline goodness : 0.196393 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.26, Z:1.17 [[ 9.99948596e-01 -5.08779513e-03 -8.77043403e-03 -5.56021291e+00] [ 5.09903829e-03 9.99986206e-01 1.26005483e-03 -2.62302346e-01] [ 8.76390215e-03 -1.30471084e-03 9.99960745e-01 1.17359970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.082557844 meters Centerline goodness : 0.158547 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.26, Z:1.17 [[ 9.99950940e-01 -5.08966028e-03 -8.49786557e-03 -5.56120109e+00] [ 5.09993031e-03 9.99986290e-01 1.18730989e-03 -2.61909776e-01] [ 8.49170606e-03 -1.23059016e-03 9.99963188e-01 1.17412643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142557844 meters Centerline goodness : 0.142593 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.26, Z:1.17 [[ 9.99943305e-01 -4.16286879e-03 -9.80092366e-03 -5.55687657e+00] [ 4.17666152e-03 9.99990315e-01 1.38724125e-03 -2.59568165e-01] [ 9.79505384e-03 -1.42809774e-03 9.99951008e-01 1.17197200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20255784399998 meters Centerline goodness : 0.141451 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.26, Z:1.17 [[ 9.99940750e-01 -4.03512662e-03 -1.01101489e-02 -5.55582098e+00] [ 4.04591532e-03 9.99991267e-01 1.04688998e-03 -2.57303758e-01] [ 1.01058362e-02 -1.08773276e-03 9.99948343e-01 1.17131882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26255784399999 meters Centerline goodness : 0.146217 with order 3 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.26, Z:1.17 [[ 9.99941132e-01 4.23807154e-03 -9.98854061e-03 -5.57789972e+00] [-4.23756421e-03 9.99991019e-01 7.19546350e-05 -2.59774920e-01] [ 9.98875585e-03 -2.96233169e-05 9.99950111e-01 1.17078608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32255784399999 meters Centerline goodness : 0.133710 with order 2 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.26, Z:1.17 [[ 9.99941675e-01 4.14604666e-03 -9.97278750e-03 -5.57755867e+00] [-4.14854549e-03 9.99991368e-01 -2.29891425e-04 -2.58236258e-01] [ 9.97174828e-03 2.71250579e-04 9.99950244e-01 1.17002089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38255784399999 meters Centerline goodness : 0.210783 with order 3 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.26, Z:1.17 [[ 9.99948947e-01 4.29444524e-05 -1.01045144e-02 -5.57699122e+00] [-9.00688480e-05 9.99989123e-01 -4.66328836e-03 -2.56004421e-01] [ 1.01042042e-02 4.66396039e-03 9.99938074e-01 1.16944712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44255784399999 meters Centerline goodness : 0.142006 with order 3 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.26, Z:1.17 [[ 9.99950426e-01 1.57697010e-06 -9.95722080e-03 -5.57753007e+00] [-4.80371483e-05 9.99989114e-01 -4.66574107e-03 -2.56045969e-01] [ 9.95710505e-03 4.66598808e-03 9.99939540e-01 1.16972869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502557844 meters Centerline goodness : 0.141944 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.26, Z:1.17 [[ 9.99925447e-01 4.98826718e-03 -1.11452814e-02 -5.59983525e+00] [-5.08127273e-03 9.99952377e-01 -8.33216150e-03 -2.60289457e-01] [ 1.11031876e-02 8.38817253e-03 9.99903174e-01 1.16960570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562557844 meters Centerline goodness : 0.141372 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.26, Z:1.17 [[ 9.99919269e-01 4.97566824e-03 -1.16917974e-02 -5.59793270e+00] [-5.07315747e-03 9.99952491e-01 -8.32344769e-03 -2.60303730e-01] [ 1.16498272e-02 8.38209006e-03 9.99897006e-01 1.16862097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62255784399999 meters Centerline goodness : 0.145685 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.26, Z:1.17 [[ 9.99914948e-01 -4.60375379e-03 -1.22025254e-02 -5.62049911e+00] [ 4.51200285e-03 9.99961425e-01 -7.53590753e-03 -2.58617229e-01] [ 1.22367481e-02 7.48020876e-03 9.99897149e-01 1.16856272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68255784399999 meters Centerline goodness : 0.132867 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.26, Z:1.17 [[ 9.99916359e-01 -4.61729629e-03 -1.20812388e-02 -5.62115660e+00] [ 4.53016223e-03 9.99963603e-01 -7.22979826e-03 -2.60426688e-01] [ 1.21141812e-02 7.17446358e-03 9.99900882e-01 1.16925558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74255784399999 meters Centerline goodness : 0.142285 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.26, Z:1.17 [[ 9.99909649e-01 -4.53615013e-03 -1.26537410e-02 -5.61938728e+00] [ 4.45138632e-03 9.99967521e-01 -6.71885631e-03 -2.63138246e-01] [ 1.26838078e-02 6.66192257e-03 9.99897365e-01 1.16873908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80255784399999 meters Centerline goodness : 0.133137 with order 2 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.26, Z:1.17 [[ 9.99910610e-01 -4.49623106e-03 -1.25918865e-02 -5.61975181e+00] [ 4.41177829e-03 9.99967643e-01 -6.72668535e-03 -2.62934634e-01] [ 1.26217238e-02 6.67053144e-03 9.99898093e-01 1.16912700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862557844 meters Centerline goodness : 0.142959 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.26, Z:1.17 [[ 9.99912416e-01 -3.59398291e-03 -1.27375098e-02 -5.61952068e+00] [ 3.51149641e-03 9.99972759e-01 -6.49233220e-03 -2.61399050e-01] [ 1.27604961e-02 6.44703585e-03 9.99897798e-01 1.16907356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922557844 meters Centerline goodness : 0.187852 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.26, Z:1.17 [[ 9.99921782e-01 -2.78747620e-03 -1.21926184e-02 -5.62131043e+00] [ 2.71106579e-03 9.99976612e-01 -6.27898530e-03 -2.59837507e-01] [ 1.22098358e-02 6.24543918e-03 9.99905953e-01 1.16942725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98255784399998 meters Centerline goodness : 0.161163 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.26, Z:1.17 [[ 0.99992114 0.00604654 -0.0110074 -5.64624474] [-0.00611707 0.9999609 -0.00638533 -0.26328314] [ 0.01096836 0.00645216 0.99991903 1.17005451] [ 0. 0. 0. 1. ]] SLAMing on 116.04255784399999 meters Centerline goodness : 0.143059 with order 3 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.26, Z:1.17 [[ 9.99945892e-01 -1.37568336e-03 -1.03112006e-02 -5.62829780e+00] [ 1.32225251e-03 9.99985674e-01 -5.18685365e-03 -2.56871927e-01] [ 1.03181883e-02 5.17293898e-03 9.99933386e-01 1.17218965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10255784399999 meters Centerline goodness : 0.143610 with order 3 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.26, Z:1.17 [[ 9.99949346e-01 -1.40123805e-03 -9.96704926e-03 -5.62935528e+00] [ 1.34879181e-03 9.99985221e-01 -5.26673947e-03 -2.56189536e-01] [ 9.97428192e-03 5.25302921e-03 9.99936458e-01 1.17249012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16255784399999 meters Centerline goodness : 0.147582 with order 3 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.26, Z:1.17 [[ 9.99948382e-01 -1.74136138e-03 -1.00100816e-02 -5.62941916e+00] [ 1.68837534e-03 9.99984533e-01 -5.29928323e-03 -2.57241361e-01] [ 1.00191547e-02 5.28210892e-03 9.99935856e-01 1.17287608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222557844 meters Centerline goodness : 0.145615 with order 3 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.26, Z:1.17 [[ 9.99948836e-01 -2.44181491e-03 -9.81647453e-03 -5.63037492e+00] [ 2.39228765e-03 9.99984367e-01 -5.05390102e-03 -2.61418490e-01] [ 9.82866176e-03 5.03015861e-03 9.99939046e-01 1.17391006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282557844 meters Centerline goodness : 0.148663 with order 3 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.26, Z:1.17 [[ 9.99943697e-01 -2.48045330e-03 -1.03174325e-02 -5.62876922e+00] [ 2.43423079e-03 9.99986956e-01 -4.49018739e-03 -2.64976604e-01] [ 1.03284356e-02 4.46481956e-03 9.99936692e-01 1.17345631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34255784399998 meters Centerline goodness : 0.197802 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.17 [[ 9.99893254e-01 -3.13723120e-03 -1.42701842e-02 -5.67195171e+00] [ 3.08313538e-03 9.99987984e-01 -3.81125033e-03 -2.70256216e-01] [ 1.42819696e-02 3.76684658e-03 9.99890912e-01 1.17347506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40255784399999 meters Centerline goodness : 0.146609 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.17 [[ 9.99882944e-01 -2.68764424e-03 -1.50623437e-02 -5.66956876e+00] [ 2.63053390e-03 9.99989282e-01 -3.81012814e-03 -2.68865003e-01] [ 1.50724225e-02 3.77006014e-03 9.99879297e-01 1.17252135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46255784399999 meters Centerline goodness : 0.129630 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.17 [[ 9.99887888e-01 -2.62245515e-03 -1.47422863e-02 -5.67026090e+00] [ 2.56077358e-03 9.99987896e-01 -4.20131003e-03 -2.66558253e-01] [ 1.47531257e-02 4.16308736e-03 9.99882500e-01 1.17222407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52255784399999 meters Centerline goodness : 0.145660 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.26, Z:1.17 [[ 9.99891531e-01 -2.69057313e-03 -1.44805417e-02 -5.67094694e+00] [ 2.62133047e-03 9.99985051e-01 -4.79863110e-03 -2.63452396e-01] [ 1.44932363e-02 4.76015232e-03 9.99883637e-01 1.17215859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.582557844 meters Centerline goodness : 0.127165 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.26, Z:1.17 [[ 9.99886924e-01 -2.79968297e-03 -1.47749832e-02 -5.66966223e+00] [ 2.72335053e-03 9.99982855e-01 -5.18392337e-03 -2.61591292e-01] [ 1.47892432e-02 5.14309974e-03 9.99877406e-01 1.17108520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642557844 meters Centerline goodness : 0.144528 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.26, Z:1.17 [[ 9.99899027e-01 -2.55235139e-03 -1.39793158e-02 -5.67282385e+00] [ 2.48535479e-03 9.99985354e-01 -4.80782983e-03 -2.62499225e-01] [ 1.39913823e-02 4.77260081e-03 9.99890726e-01 1.17315232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70255784399998 meters Centerline goodness : 0.144594 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.17 [[ 9.99905831e-01 -2.53817463e-03 -1.34865654e-02 -5.67461015e+00] [ 2.48193754e-03 9.99988163e-01 -4.18496279e-03 -2.66373469e-01] [ 1.34970280e-02 4.15109588e-03 9.99900294e-01 1.17426699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76255784399999 meters Centerline goodness : 0.153885 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.17 [[ 9.99891991e-01 -2.58384172e-03 -1.44682663e-02 -5.67146043e+00] [ 2.53078157e-03 9.99990010e-01 -3.68445550e-03 -2.70071814e-01] [ 1.44776418e-02 3.64744152e-03 9.99888541e-01 1.17322076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82255784399999 meters Centerline goodness : 0.152143 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.17 [[ 9.99890446e-01 -2.26627818e-03 -1.46273792e-02 -5.67064265e+00] [ 2.22066035e-03 9.99992623e-01 -3.13414937e-03 -2.72064637e-01] [ 1.46343741e-02 3.10132357e-03 9.99888102e-01 1.17255573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88255784399999 meters Centerline goodness : 0.135093 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.17 [[ 9.99895515e-01 -2.19907956e-03 -1.42871853e-02 -5.67200283e+00] [ 2.15564072e-03 9.99993010e-01 -3.05509444e-03 -2.72433099e-01] [ 1.42938038e-02 3.02397718e-03 9.99893266e-01 1.17343155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94255784399999 meters Centerline goodness : 0.141007 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.17 [[ 9.99897581e-01 -2.16001561e-03 -1.41478491e-02 -5.67239972e+00] [ 2.11693645e-03 9.99993080e-01 -3.05919486e-03 -2.72265912e-01] [ 1.41543591e-02 3.02893144e-03 9.99895234e-01 1.17343939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002557844 meters Centerline goodness : 0.136175 with order 3 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.28, Z:1.17 [[ 9.99848049e-01 -2.33949034e-03 -1.72744083e-02 -5.71520538e+00] [ 2.30477464e-03 9.99995285e-01 -2.02929566e-03 -2.75554330e-01] [ 1.72790744e-02 1.98917369e-03 9.99848727e-01 1.17226701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062557844 meters Centerline goodness : 0.132509 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.28, Z:1.17 [[ 9.99844914e-01 -2.39052364e-03 -1.74480085e-02 -5.71471517e+00] [ 2.35543449e-03 9.99995163e-01 -2.03134286e-03 -2.75726921e-01] [ 1.74527801e-02 1.98993019e-03 9.99845708e-01 1.17212806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12255784399999 meters Centerline goodness : 0.146250 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.28, Z:1.17 [[ 9.99838632e-01 -2.64224662e-03 -1.77687270e-02 -5.71398513e+00] [ 2.61128174e-03 9.99995032e-01 -1.76563738e-03 -2.78023914e-01] [ 1.77733040e-02 1.71895331e-03 9.99840565e-01 1.17233694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18255784399999 meters Centerline goodness : 0.133715 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.28, Z:1.17 [[ 9.99818546e-01 -3.14965960e-03 -1.87870804e-02 -5.71116148e+00] [ 3.11945279e-03 9.99993795e-01 -1.63693886e-03 -2.80891709e-01] [ 1.87921196e-02 1.57803642e-03 9.99822167e-01 1.17204956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24255784399999 meters Centerline goodness : 0.150911 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.29, Z:1.17 [[ 9.99829521e-01 -3.49459673e-03 -1.81305453e-02 -5.71303272e+00] [ 3.47641904e-03 9.99993423e-01 -1.03402076e-03 -2.86453811e-01] [ 1.81340395e-02 9.70815107e-04 9.99835093e-01 1.17271674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30255784399999 meters Centerline goodness : 0.135049 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.29, Z:1.17 [[ 9.99830339e-01 -3.25184475e-03 -1.81306067e-02 -5.71304868e+00] [ 3.25030266e-03 9.99994711e-01 -1.14521302e-04 -2.91279920e-01] [ 1.81308832e-02 5.55719134e-05 9.99835620e-01 1.17293248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362557844 meters Centerline goodness : 0.158836 with order 3 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.30, Z:1.17 [[ 9.99759573e-01 2.55118570e-03 -2.17781527e-02 -5.68915785e+00] [-2.59743384e-03 9.99994431e-01 -2.09557985e-03 -2.99770005e-01] [ 2.17726852e-02 2.15164333e-03 9.99760632e-01 1.17356355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422557844 meters Centerline goodness : 0.172030 with order 1 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.31, Z:1.17 [[ 9.99807929e-01 8.32388886e-04 -1.95809011e-02 -5.73447321e+00] [-8.48708513e-04 9.99999299e-01 -8.25150904e-04 -3.07209278e-01] [ 1.95802006e-02 8.41610894e-04 9.99807935e-01 1.17344232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48255784399998 meters Centerline goodness : 0.136056 with order 3 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.31, Z:1.17 [[ 9.99809325e-01 1.13706764e-03 -1.94940950e-02 -5.73478051e+00] [-1.13969929e-03 9.99999343e-01 -1.23887817e-04 -3.10380553e-01] [ 1.94939413e-02 1.46081601e-04 9.99809964e-01 1.17362329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54255784399999 meters Centerline goodness : 0.173791 with order 2 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.31, Z:1.17 [[ 9.99803410e-01 1.42501889e-03 -1.97765053e-02 -5.73393211e+00] [-1.41338206e-03 9.99998820e-01 6.02381506e-04 -3.14257440e-01] [ 1.97773404e-02 -5.74311326e-04 9.99804244e-01 1.17352346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60255784399999 meters Centerline goodness : 0.159159 with order 2 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.32, Z:1.17 [[ 9.99807214e-01 1.68951767e-03 -1.95622215e-02 -5.73489911e+00] [-1.66893156e-03 9.99998036e-01 1.06861792e-03 -3.16111155e-01] [ 1.95639885e-02 -1.03576389e-03 9.99808070e-01 1.17425870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66255784399999 meters SLAMing on 117.722557844 meters Centerline goodness : 0.148334 with order 2 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.33, Z:1.17 [[ 9.99760123e-01 -4.52088426e-05 -2.19019046e-02 -5.77959681e+00] [ 7.94584315e-05 9.99998776e-01 1.56290445e-03 -3.27009906e-01] [ 2.19018071e-02 -1.56426983e-03 9.99758903e-01 1.17432417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782557844 meters Centerline goodness : 0.347551 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.33, Z:1.17 [[ 9.99754070e-01 -8.18769636e-03 -2.06097581e-02 -5.75814605e+00] [ 8.24131319e-03 9.99962870e-01 2.51793606e-03 -3.27088957e-01] [ 2.05883767e-02 -2.68716829e-03 9.99784426e-01 1.17477352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84255784399998 meters Centerline goodness : 0.224584 with order 2 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.33, Z:1.17 [[ 9.99746447e-01 -7.93714045e-03 -2.10723325e-02 -5.75701271e+00] [ 8.01232442e-03 9.99961825e-01 3.48587042e-03 -3.32517118e-01] [ 2.10438603e-02 -3.65382493e-03 9.99771877e-01 1.17496972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90255784399999 meters Centerline goodness : 0.126970 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.33, Z:1.17 [[ 9.99752888e-01 -7.61262847e-03 -2.08856577e-02 -5.75720480e+00] [ 7.69924031e-03 9.99962079e-01 4.06968006e-03 -3.34744118e-01] [ 2.08538847e-02 -4.22947809e-03 9.99773588e-01 1.17458699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96255784399999 meters Centerline goodness : 0.352777 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.34, Z:1.17 [[ 9.99758605e-01 -1.57648685e-03 -2.19145103e-02 -5.77877208e+00] [ 1.61391799e-03 9.99997269e-01 1.69047151e-03 -3.41558753e-01] [ 2.19117854e-02 -1.72543166e-03 9.99758419e-01 1.17475359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02255784399999 meters Centerline goodness : 0.351314 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.34, Z:1.17 [[ 9.99748766e-01 -1.43326997e-03 -2.23685208e-02 -5.77711051e+00] [ 1.48091030e-03 9.99996670e-01 2.11337396e-03 -3.43853425e-01] [ 2.23654173e-02 -2.14596879e-03 9.99747560e-01 1.17390837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.082557844 meters Centerline goodness : 0.354101 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.35, Z:1.17 [[ 9.99743657e-01 -1.16525983e-03 -2.26111340e-02 -5.77638937e+00] [ 1.22800489e-03 9.99995434e-01 2.76127621e-03 -3.47037784e-01] [ 2.26078131e-02 -2.78833496e-03 9.99740522e-01 1.17382080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.142557844 meters Centerline goodness : 0.088721 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.35, Z:1.17 [[ 9.99748843e-01 -9.63576585e-04 -2.23902137e-02 -5.77738894e+00] [ 1.03099960e-03 9.99994969e-01 2.99992325e-03 -3.47749166e-01] [ 2.23872104e-02 -3.02225410e-03 9.99744807e-01 1.17455443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20255784399998 meters Centerline goodness : 0.348697 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.35, Z:1.17 [[ 9.99750737e-01 -1.04370645e-03 -2.23018747e-02 -5.77765658e+00] [ 1.10113235e-03 9.99996110e-01 2.56281110e-03 -3.45919937e-01] [ 2.22991131e-02 -2.58672961e-03 9.99747997e-01 1.17454682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26255784399999 meters Centerline goodness : 0.136223 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.34, Z:1.17 [[ 9.99765607e-01 -9.48502401e-04 -2.16293900e-02 -5.77942498e+00] [ 1.00073941e-03 9.99996609e-01 2.40439785e-03 -3.44287324e-01] [ 2.16270361e-02 -2.42547966e-03 9.99763166e-01 1.17453353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32255784399999 meters Centerline goodness : 0.117913 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.34, Z:1.17 [[ 9.99769156e-01 -1.06730370e-03 -2.14591545e-02 -5.77973885e+00] [ 1.11167625e-03 9.99997269e-01 2.05594525e-03 -3.42512945e-01] [ 2.14569016e-02 -2.07932628e-03 9.99767612e-01 1.17427371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38255784399999 meters Centerline goodness : 0.346980 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.34, Z:1.17 [[ 9.99766283e-01 -1.27399399e-03 -2.15813951e-02 -5.77942139e+00] [ 1.30928631e-03 9.99997829e-01 1.62126184e-03 -3.40464251e-01] [ 2.15792828e-02 -1.64913915e-03 9.99765780e-01 1.17410082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44255784399999 meters Centerline goodness : 0.130528 with order 3 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.34, Z:1.17 [[ 9.99768484e-01 -1.37790900e-03 -2.14727766e-02 -5.78015135e+00] [ 1.41647584e-03 9.99997411e-01 1.78097469e-03 -3.41434801e-01] [ 2.14702670e-02 -1.81097803e-03 9.99767847e-01 1.17486397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502557844 meters Centerline goodness : 0.348813 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.34, Z:1.18 [[ 9.99761037e-01 -5.44135558e-03 -2.11721863e-02 -5.78113260e+00] [ 5.40135447e-03 9.99983519e-01 -1.94605154e-03 -3.42866570e-01] [ 2.11824265e-02 1.83122802e-03 9.99773950e-01 1.17513206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562557844 meters Centerline goodness : 0.363807 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.34, Z:1.18 [[ 9.99761673e-01 -5.36859255e-03 -2.11606866e-02 -5.78147309e+00] [ 5.33457772e-03 9.99984387e-01 -1.66357490e-03 -3.44027611e-01] [ 2.11692873e-02 1.55029510e-03 9.99774704e-01 1.17560208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62255784399999 meters Centerline goodness : 0.191422 with order 3 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.35, Z:1.18 [[ 9.99782563e-01 2.90188928e-03 -2.06495864e-02 -5.76264451e+00] [-2.96999239e-03 9.99990249e-01 -3.26813432e-03 -3.48962839e-01] [ 2.06399012e-02 3.32875282e-03 9.99781433e-01 1.17722817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68255784399999 meters Centerline goodness : 0.346614 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.35, Z:1.18 [[ 9.99779350e-01 2.97187841e-03 -2.07947133e-02 -5.76139204e+00] [-3.04011136e-03 9.99990096e-01 -3.25042161e-03 -3.49053331e-01] [ 2.07848475e-02 3.31292264e-03 9.99778483e-01 1.17572789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74255784399999 meters Centerline goodness : 0.168498 with order 3 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.35, Z:1.17 [[ 9.99671141e-01 1.41042859e-03 -2.56051038e-02 -5.80083330e+00] [-1.49504541e-03 9.99993484e-01 -3.28584304e-03 -3.53430326e-01] [ 2.56003025e-02 3.32304325e-03 9.99666735e-01 1.17446145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80255784399999 meters Centerline goodness : 0.341873 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.36, Z:1.17 [[ 9.99666294e-01 1.63484989e-03 -2.57803810e-02 -5.80060076e+00] [-1.70497739e-03 9.99994906e-01 -2.69844225e-03 -3.56032494e-01] [ 2.57758381e-02 2.74149673e-03 9.99663989e-01 1.17477158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862557844 meters Centerline goodness : 0.343199 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.36, Z:1.18 [[ 9.99669647e-01 1.77084368e-03 -2.56410069e-02 -5.80137648e+00] [-1.82919200e-03 9.99995791e-01 -2.25230985e-03 -3.58222586e-01] [ 2.56369105e-02 2.29846812e-03 9.99668678e-01 1.17551915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922557844 meters Centerline goodness : 0.353643 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.36, Z:1.18 [[ 9.99681950e-01 -2.02520986e-03 -2.51375772e-02 -5.80256494e+00] [ 1.88233335e-03 9.99981948e-01 -5.70614347e-03 -3.60372129e-01] [ 2.51486795e-02 5.65701133e-03 9.99667716e-01 1.17542301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98255784399998 meters Centerline goodness : 0.344925 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.37, Z:1.17 [[ 9.99636077e-01 5.68711257e-03 -2.63698887e-02 -5.82081186e+00] [-5.83902740e-03 9.99966778e-01 -5.68750252e-03 -3.72228977e-01] [ 2.63366672e-02 5.83940721e-03 9.99636074e-01 1.17291372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04255784399999 meters Centerline goodness : 0.346037 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.38, Z:1.17 [[ 9.99655104e-01 3.63223383e-03 -2.60092285e-02 -5.82268815e+00] [-3.81992534e-03 9.99966997e-01 -7.17029767e-03 -3.78861022e-01] [ 2.59823259e-02 7.26717798e-03 9.99635987e-01 1.17398998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10255784399999 meters Centerline goodness : 0.346315 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.38, Z:1.17 [[ 9.99627982e-01 4.21587325e-03 -2.69466816e-02 -5.82039593e+00] [-4.40096414e-03 9.99967106e-01 -6.81317031e-03 -3.80838340e-01] [ 2.69170717e-02 6.92922707e-03 9.99613654e-01 1.17496850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16255784399999 meters Centerline goodness : 0.310378 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.38, Z:1.18 [[ 9.99661181e-01 4.84208260e-03 -2.55749281e-02 -5.82458547e+00] [-5.00436291e-03 9.99967726e-01 -6.28510115e-03 -3.81436771e-01] [ 2.55436697e-02 6.41095786e-03 9.99653150e-01 1.17630134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222557844 meters Centerline goodness : 0.344225 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.38, Z:1.18 [[ 9.99646333e-01 5.11089618e-03 -2.60976402e-02 -5.82273842e+00] [-5.27703939e-03 9.99966223e-01 -6.30131823e-03 -3.81103206e-01] [ 2.60645533e-02 6.43680794e-03 9.99639538e-01 1.17572141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282557844 meters Centerline goodness : 0.145119 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.38, Z:1.18 [[ 9.99628285e-01 5.38975256e-03 -2.67253052e-02 -5.82086860e+00] [-5.55439708e-03 9.99966028e-01 -6.09021937e-03 -3.81718136e-01] [ 2.66915726e-02 6.23639850e-03 9.99624263e-01 1.17540085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34255784399998 meters Centerline goodness : 0.348183 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.38, Z:1.18 [[ 9.99627729e-01 5.30812780e-03 -2.67624305e-02 -5.82098530e+00] [-5.46327588e-03 9.99968674e-01 -5.72745203e-03 -3.83930496e-01] [ 2.67311901e-02 5.87153040e-03 9.99625414e-01 1.17566503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40255784399999 meters Centerline goodness : 0.347695 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.38, Z:1.18 [[ 9.99632159e-01 5.36787353e-03 -2.65844335e-02 -5.82157665e+00] [-5.51793168e-03 9.99969239e-01 -5.57444831e-03 -3.84231730e-01] [ 2.65536928e-02 5.71908889e-03 9.99631029e-01 1.17581291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46255784399999 meters Centerline goodness : 0.150649 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.38, Z:1.18 [[ 9.99639045e-01 5.24904238e-03 -2.63481984e-02 -5.82261192e+00] [-5.40354605e-03 9.99968603e-01 -5.79614719e-03 -3.83440960e-01] [ 2.63169469e-02 5.93642874e-03 9.99636022e-01 1.17648398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52255784399999 meters Centerline goodness : 0.346926 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.38, Z:1.18 [[ 9.99642940e-01 5.07232470e-03 -2.62347746e-02 -5.82272121e+00] [-5.23908032e-03 9.99966484e-01 -6.29145720e-03 -3.81134584e-01] [ 2.62019830e-02 6.42665686e-03 9.99636011e-01 1.17611369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.582557844 meters Centerline goodness : 0.343640 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.38, Z:1.17 [[ 9.99609744e-01 -4.23039734e-03 -2.76127340e-02 -5.84216699e+00] [ 4.08863232e-03 9.99978181e-01 -5.18848794e-03 -3.76064412e-01] [ 2.76340809e-02 5.07356478e-03 9.99605230e-01 1.17494924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642557844 meters Centerline goodness : 0.087645 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:-0.37, Z:1.18 [[ 9.99687231e-01 -4.54970546e-03 -2.45914855e-02 -5.80242190e+00] [ 4.37634727e-03 9.99965227e-01 -7.09874847e-03 -3.72108231e-01] [ 2.46229276e-02 6.98890732e-03 9.99672380e-01 1.17699404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70255784399998 meters Centerline goodness : 0.347225 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.38, Z:1.18 [[ 0.99958892 -0.00613017 -0.02800751 -5.84598524] [ 0.00595347 0.99996187 -0.006388 -0.37650766] [ 0.0280456 0.00621864 0.9995873 1.17716106] [ 0. 0. 0. 1. ]] SLAMing on 119.76255784399999 meters Centerline goodness : 0.349360 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.38, Z:1.18 [[ 0.99957708 -0.00612354 -0.02842813 -5.8445043 ] [ 0.00594766 0.99996267 -0.00626742 -0.377199 ] [ 0.02846545 0.00609569 0.99957619 1.1764268 ] [ 0. 0. 0. 1. ]] SLAMing on 119.82255784399999 meters Centerline goodness : 0.345605 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.38, Z:1.18 [[ 9.99584064e-01 1.28237607e-03 -2.88106575e-02 -5.86419568e+00] [-1.49139503e-03 9.99972718e-01 -7.23460147e-03 -3.83375531e-01] [ 2.88005940e-02 7.27456041e-03 9.99558706e-01 1.17553001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88255784399999 meters Centerline goodness : 0.354436 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.38, Z:1.18 [[ 9.99597429e-01 1.51251302e-03 -2.83318395e-02 -5.86572075e+00] [-1.71510383e-03 9.99973127e-01 -7.12770540e-03 -3.83029671e-01] [ 2.83202974e-02 7.17342804e-03 9.99573160e-01 1.17601801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94255784399999 meters Centerline goodness : 0.151183 with order 2 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.38, Z:1.18 [[ 9.99606673e-01 1.48159822e-03 -2.80054187e-02 -5.86670165e+00] [-1.68539068e-03 9.99972264e-01 -7.25469023e-03 -3.82638526e-01] [ 2.79938934e-02 7.29903684e-03 9.99581445e-01 1.17623158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002557844 meters Centerline goodness : 0.312992 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.38, Z:1.18 [[ 9.99615429e-01 1.60365857e-03 -2.76843488e-02 -5.86819819e+00] [-1.79921162e-03 9.99973599e-01 -7.04020402e-03 -3.83215943e-01] [ 2.76723278e-02 7.08730656e-03 9.99591923e-01 1.17727562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062557844 meters Centerline goodness : 0.347518 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.39, Z:1.18 [[ 9.99587522e-01 1.06240770e-03 -2.86994103e-02 -5.86522068e+00] [-1.25996048e-03 9.99975633e-01 -6.86630719e-03 -3.86552564e-01] [ 2.86914162e-02 6.89963511e-03 9.99564504e-01 1.17682572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12255784399999 meters Centerline goodness : 0.297239 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.39, Z:1.18 [[ 9.99592636e-01 1.28495616e-03 -2.85115845e-02 -5.86543046e+00] [-1.45645361e-03 9.99980969e-01 -5.99505791e-03 -3.89519479e-01] [ 2.85033385e-02 6.03414154e-03 9.99575484e-01 1.17604927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18255784399999 meters Centerline goodness : 0.340637 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.39, Z:1.18 [[ 9.99589922e-01 1.55793014e-03 -2.85930104e-02 -5.86520350e+00] [-1.72209235e-03 9.99982171e-01 -5.71761387e-03 -3.90598121e-01] [ 2.85835929e-02 5.76450901e-03 9.99574784e-01 1.17629671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24255784399999 meters Centerline goodness : 0.348915 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.39, Z:1.18 [[ 9.99591008e-01 1.66445726e-03 -2.85490275e-02 -5.86536242e+00] [-1.82639244e-03 9.99982387e-01 -5.64704053e-03 -3.90839795e-01] [ 2.85391254e-02 5.69687266e-03 9.99576442e-01 1.17638289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30255784399999 meters Centerline goodness : 0.357277 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.39, Z:1.18 [[ 9.99592096e-01 1.84908061e-03 -2.84995047e-02 -5.86512974e+00] [-2.01173318e-03 9.99981847e-01 -5.67959164e-03 -3.90038356e-01] [ 2.84884853e-02 5.73460832e-03 9.99577671e-01 1.17564934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362557844 meters Centerline goodness : 0.148147 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.39, Z:1.17 [[ 9.99586600e-01 1.92328741e-03 -2.86867529e-02 -5.86414546e+00] [-2.10428627e-03 9.99978063e-01 -6.28063919e-03 -3.86642783e-01] [ 2.86740441e-02 6.33840791e-03 9.99568719e-01 1.17463497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422557844 meters Centerline goodness : 0.188638 with order 3 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.38, Z:1.17 [[ 9.99588972e-01 2.16990348e-03 -2.85863408e-02 -5.86409328e+00] [-2.36554746e-03 9.99974001e-01 -6.81192784e-03 -3.82550103e-01] [ 2.85708163e-02 6.87675029e-03 9.99568116e-01 1.17382224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48255784399998 meters Centerline goodness : 0.341224 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.38, Z:1.17 [[ 9.99580672e-01 2.17810422e-03 -2.88744732e-02 -5.86309691e+00] [-2.39844961e-03 9.99968253e-01 -7.59871188e-03 -3.77852878e-01] [ 2.88570057e-02 7.66477950e-03 9.99554163e-01 1.17316716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54255784399999 meters Centerline goodness : 0.339915 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.37, Z:1.17 [[ 9.99580224e-01 1.72231757e-03 -2.89207404e-02 -5.86283038e+00] [-1.97848691e-03 9.99959046e-01 -8.83135604e-03 -3.71753234e-01] [ 2.89043456e-02 8.88486815e-03 9.99542694e-01 1.17270644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60255784399999 meters Centerline goodness : 0.346360 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.37, Z:1.17 [[ 9.99591344e-01 1.44528577e-03 -2.85491713e-02 -5.86391184e+00] [-1.71430709e-03 9.99954341e-01 -9.40085945e-03 -3.69092128e-01] [ 2.85342808e-02 9.44595978e-03 9.99548182e-01 1.17284816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66255784399999 meters Centerline goodness : 0.344312 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99612100e-01 1.11985478e-03 -2.78279797e-02 -5.86631649e+00] [-1.38977278e-03 9.99952162e-01 -9.68207101e-03 -3.68221686e-01] [ 2.78158060e-02 9.71698990e-03 9.99565836e-01 1.17385901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722557844 meters Centerline goodness : 0.319648 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99604211e-01 9.94090267e-04 -2.81146582e-02 -5.86607224e+00] [-1.26475792e-03 9.99953012e-01 -9.61113534e-03 -3.68062456e-01] [ 2.81037828e-02 9.64288960e-03 9.99558499e-01 1.17447353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782557844 meters Centerline goodness : 0.371280 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99602119e-01 1.00853686e-03 -2.81884061e-02 -5.86599172e+00] [-1.27631196e-03 9.99954220e-01 -9.48309899e-03 -3.68733959e-01] [ 2.81775515e-02 9.51530305e-03 9.99557644e-01 1.17464829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84255784399998 meters Centerline goodness : 0.333464 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99616845e-01 -3.01874703e-03 -2.75145474e-02 -5.86857156e+00] [ 2.65515505e-03 9.99908802e-01 -1.32415048e-02 -3.70063260e-01] [ 2.75520109e-02 1.31633759e-02 9.99533697e-01 1.17601258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90255784399999 meters Centerline goodness : 0.346926 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99625441e-01 -3.04590879e-03 -2.71974452e-02 -5.86971699e+00] [ 2.70381149e-03 9.99916883e-01 -1.26062158e-02 -3.73730312e-01] [ 2.72335820e-02 1.25279573e-02 9.99550590e-01 1.17671445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96255784399999 meters Centerline goodness : 0.343953 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.38, Z:1.18 [[ 9.99622876e-01 -2.93008580e-03 -2.73042276e-02 -5.86911812e+00] [ 2.59437215e-03 9.99920708e-01 -1.23226234e-02 -3.75012765e-01] [ 2.73381690e-02 1.22471389e-02 9.99551215e-01 1.17615471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02255784399999 meters Centerline goodness : 0.148220 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.38, Z:1.18 [[ 9.99621823e-01 -2.87463099e-03 -2.73486232e-02 -5.86890813e+00] [ 2.54128811e-03 9.99922157e-01 -1.22156117e-02 -3.75560610e-01] [ 2.73816096e-02 1.21414913e-02 9.99551315e-01 1.17603016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.082557844 meters Centerline goodness : 0.347274 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99618581e-01 -2.76829715e-03 -2.74777777e-02 -5.86832518e+00] [ 2.42959493e-03 9.99920758e-01 -1.23521470e-02 -3.74449332e-01] [ 2.75097947e-02 1.22806758e-02 9.99546095e-01 1.17548827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142557844 meters Centerline goodness : 0.128315 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99629774e-01 -2.81521245e-03 -2.70626838e-02 -5.86936709e+00] [ 2.47358877e-03 9.99916943e-01 -1.26486213e-02 -3.72840262e-01] [ 2.70960446e-02 1.25769965e-02 9.99553712e-01 1.17543346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20255784399998 meters Centerline goodness : 0.343299 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99623873e-01 -2.97095881e-03 -2.72632607e-02 -5.86833341e+00] [ 2.61782453e-03 9.99912338e-01 -1.29793157e-02 -3.71640415e-01] [ 2.72994318e-02 1.29030634e-02 9.99544022e-01 1.17450344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26255784399999 meters Centerline goodness : 0.343920 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99614055e-01 -3.10318232e-03 -2.76063761e-02 -5.86686932e+00] [ 2.74089546e-03 9.99909759e-01 -1.31514783e-02 -3.70947945e-01] [ 2.76446963e-02 1.30707363e-02 9.99532354e-01 1.17341819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32255784399999 meters Centerline goodness : 0.346934 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99601123e-01 -3.13333180e-03 -2.80673648e-02 -5.86585234e+00] [ 2.76490843e-03 9.99909639e-01 -1.31556027e-02 -3.70942933e-01] [ 2.81060494e-02 1.30727516e-02 9.99519461e-01 1.17366214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38255784399999 meters Centerline goodness : 0.350423 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99609537e-01 -3.17454804e-03 -2.77614068e-02 -5.86664912e+00] [ 2.80777175e-03 9.99908395e-01 -1.32407487e-02 -3.70650820e-01] [ 2.78008972e-02 1.31576310e-02 9.99526882e-01 1.17369153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44255784399999 meters Centerline goodness : 0.348923 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99618836e-01 -3.16416206e-03 -2.74257443e-02 -5.86800477e+00] [ 2.80217177e-03 9.99908589e-01 -1.32273218e-02 -3.70650572e-01] [ 2.74650906e-02 1.31454284e-02 9.99536326e-01 1.17449945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502557844 meters Centerline goodness : 0.347818 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99612245e-01 -3.21300228e-03 -2.76592813e-02 -5.86718750e+00] [ 2.84480395e-03 9.99906958e-01 -1.33409999e-02 -3.70139476e-01] [ 2.76995725e-02 1.32571417e-02 9.99528380e-01 1.17409250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562557844 meters Centerline goodness : 0.346730 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99611912e-01 -3.12973029e-03 -2.76808706e-02 -5.86759861e+00] [ 2.76660254e-03 9.99909748e-01 -1.31469479e-02 -3.70917155e-01] [ 2.77195188e-02 1.30652637e-02 9.99530353e-01 1.17491681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62255784399999 meters Centerline goodness : 0.127784 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99600337e-01 -3.09282864e-03 -2.80998383e-02 -5.86611778e+00] [ 2.73273001e-03 9.99913774e-01 -1.28443488e-02 -3.72837282e-01] [ 2.81371407e-02 1.27624261e-02 9.99522597e-01 1.17420749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68255784399999 meters Centerline goodness : 0.146556 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99603895e-01 -2.90347419e-03 -2.79932489e-02 -5.86622721e+00] [ 2.55714371e-03 9.99919850e-01 -1.23997990e-02 -3.74782981e-01] [ 2.80270077e-02 1.23233046e-02 9.99531202e-01 1.17390283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74255784399999 meters Centerline goodness : 0.332323 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99606893e-01 -2.88187620e-03 -2.78882356e-02 -5.86670272e+00] [ 2.53576696e-03 9.99919430e-01 -1.24379999e-02 -3.74653367e-01] [ 2.79218334e-02 1.23623924e-02 9.99533663e-01 1.17428744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80255784399999 meters Centerline goodness : 0.343138 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99604354e-01 1.38129075e-03 -2.80931952e-02 -5.86682320e+00] [-1.61390583e-03 9.99964590e-01 -8.25913353e-03 -3.74901885e-01] [ 2.80807922e-02 8.30120561e-03 9.99571188e-01 1.17526562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862557844 meters Centerline goodness : 0.328389 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99606233e-01 1.26691061e-03 -2.80316627e-02 -5.86686851e+00] [-1.51716812e-03 9.99959170e-01 -8.90820609e-03 -3.71801659e-01] [ 2.80192323e-02 8.94722708e-03 9.99567341e-01 1.17504262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922557844 meters Centerline goodness : 0.321246 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.17 [[ 9.99611502e-01 1.15593901e-03 -2.78479550e-02 -5.86722805e+00] [-1.41424437e-03 9.99956147e-01 -9.25765005e-03 -3.70028265e-01] [ 2.78360325e-02 9.29343729e-03 9.99569301e-01 1.17475998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98255784399998 meters Centerline goodness : 0.147190 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.37, Z:1.18 [[ 9.99560640e-01 -5.70033457e-03 -2.90866598e-02 -5.89000341e+00] [ 5.52692909e-03 9.99966494e-01 -6.03860317e-03 -3.67060822e-01] [ 2.91201073e-02 5.87519014e-03 9.99558653e-01 1.17509259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04255784399999 meters Centerline goodness : 0.344598 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99635698e-01 2.25528256e-03 -2.68958219e-02 -5.87049286e+00] [-2.47012944e-03 9.99965287e-01 -7.95756644e-03 -3.64983679e-01] [ 2.68769417e-02 8.02110364e-03 9.99606569e-01 1.17533319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10255784399999 meters Centerline goodness : 0.321624 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99644015e-01 2.03304802e-03 -2.66028259e-02 -5.87146031e+00] [-2.24555149e-03 9.99965793e-01 -7.96056884e-03 -3.65508144e-01] [ 2.65857316e-02 8.01747301e-03 9.99614385e-01 1.17579323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16255784399999 meters Centerline goodness : 0.152757 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99646892e-01 1.66014327e-03 -2.65204537e-02 -5.87175886e+00] [-1.87005756e-03 9.99967106e-01 -7.89234492e-03 -3.66653399e-01] [ 2.65064789e-02 7.93915285e-03 9.99617115e-01 1.17606295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222557844 meters Centerline goodness : 0.344498 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99645955e-01 -2.25092237e-03 -2.65122419e-02 -5.87139096e+00] [ 1.95217199e-03 9.99934373e-01 -1.12888911e-02 -3.68931411e-01] [ 2.65359124e-02 1.12331379e-02 9.99584745e-01 1.17523409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282557844 meters Centerline goodness : 0.128104 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99658720e-01 -2.30168711e-03 -2.60220342e-02 -5.87294287e+00] [ 2.01859672e-03 9.99938557e-01 -1.08999117e-02 -3.70554299e-01] [ 2.60455235e-02 1.08436638e-02 9.99601944e-01 1.17544826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34255784399998 meters Centerline goodness : 0.129100 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.18 [[ 9.99666556e-01 1.43775187e-03 -2.57819593e-02 -5.87440509e+00] [-1.63335195e-03 9.99970034e-01 -7.56724995e-03 -3.69105703e-01] [ 2.57703069e-02 7.60683771e-03 9.99638948e-01 1.17716855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40255784399999 meters Centerline goodness : 0.341646 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99638535e-01 4.48944032e-03 -2.65074489e-02 -5.87223226e+00] [-4.64252225e-03 9.99972885e-01 -5.71633860e-03 -3.62712294e-01] [ 2.64810670e-02 5.83733376e-03 9.99632272e-01 1.17751233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46255784399999 meters Centerline goodness : 0.145322 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99613620e-01 8.40380306e-03 -2.64950431e-02 -5.87225165e+00] [-8.47867190e-03 9.99960370e-01 -2.71469239e-03 -3.57702610e-01] [ 2.64711793e-02 2.93828627e-03 9.99645259e-01 1.17782569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52255784399999 meters Centerline goodness : 0.318455 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.35, Z:1.18 [[ 9.99570043e-01 1.03744228e-02 -2.74244523e-02 -5.86964686e+00] [-1.04378606e-02 9.99943167e-01 -2.17104043e-03 -3.48233997e-01] [ 2.74003704e-02 2.45635958e-03 9.99621521e-01 1.17794332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.582557844 meters Centerline goodness : 0.361982 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.34, Z:1.18 [[ 9.99569325e-01 1.00317266e-02 -2.75776943e-02 -5.86871108e+00] [-1.01183556e-02 9.99944297e-01 -3.00351752e-03 -3.44343197e-01] [ 2.75460277e-02 3.28126490e-03 9.99615151e-01 1.17691526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642557844 meters Centerline goodness : 0.359101 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.34, Z:1.18 [[ 9.99581813e-01 9.66799172e-03 -2.72530394e-02 -5.86908101e+00] [-9.77528585e-03 9.99944976e-01 -3.80648218e-03 -3.40133223e-01] [ 2.72147388e-02 4.07129661e-03 9.99621320e-01 1.17588912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70255784399998 meters Centerline goodness : 0.144222 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.34, Z:1.18 [[ 9.99580674e-01 9.28129722e-03 -2.74287183e-02 -5.86841460e+00] [-9.40998527e-03 9.99945299e-01 -4.56637784e-03 -3.36732481e-01] [ 2.73848360e-02 4.82256687e-03 9.99613332e-01 1.17533317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76255784399999 meters Centerline goodness : 0.148759 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.33, Z:1.18 [[ 9.99598543e-01 2.08899347e-03 -2.82557779e-02 -5.84940106e+00] [-2.19260287e-03 9.99990985e-01 -3.63635361e-03 -3.28057214e-01] [ 2.82479269e-02 3.69684747e-03 9.99594112e-01 1.17699090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82255784399999 meters Centerline goodness : 0.136612 with order 2 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.33, Z:1.18 [[ 9.99608600e-01 1.69504753e-03 -2.79244276e-02 -5.85075597e+00] [-1.81340780e-03 9.99989478e-01 -4.21381370e-03 -3.25458456e-01] [ 2.79169912e-02 4.26280278e-03 9.99601156e-01 1.17772643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88255784399999 meters Centerline goodness : 0.149385 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.32, Z:1.18 [[ 9.99606498e-01 -7.09561312e-03 -2.71385645e-02 -5.87540940e+00] [ 7.02153806e-03 9.99971362e-01 -2.82383572e-03 -3.22369127e-01] [ 2.71578242e-02 2.63217007e-03 9.99627693e-01 1.17804910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94255784399999 meters Centerline goodness : 0.328391 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.33, Z:1.18 [[ 9.99517636e-01 -9.57498277e-03 -2.95434424e-02 -5.92091906e+00] [ 9.48819032e-03 9.99950253e-01 -3.07658394e-03 -3.27053694e-01] [ 2.95714310e-02 2.79478610e-03 9.99558762e-01 1.17843822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002557844 meters Centerline goodness : 0.148499 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.33, Z:1.18 [[ 9.99490398e-01 -1.02119149e-02 -3.02433580e-02 -5.91897006e+00] [ 1.01286413e-02 9.99944483e-01 -2.90537391e-03 -3.30069003e-01] [ 3.02713484e-02 2.59756920e-03 9.99538342e-01 1.17839493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062557844 meters Centerline goodness : 0.148067 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.33, Z:1.18 [[ 9.99486117e-01 -1.03405999e-02 -3.03409719e-02 -5.91888808e+00] [ 1.02726815e-02 9.99944370e-01 -2.39353443e-03 -3.33416853e-01] [ 3.03640346e-02 2.08062129e-03 9.99536741e-01 1.17885210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12255784399999 meters Centerline goodness : 0.369730 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.34, Z:1.18 [[ 9.99502503e-01 -5.32680010e-03 -3.10865289e-02 -5.94239466e+00] [ 5.16385732e-03 9.99972518e-01 -5.31951947e-03 -3.39147166e-01] [ 3.11140106e-02 5.15634662e-03 9.99502541e-01 1.17912326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18255784399999 meters Centerline goodness : 0.146952 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.34, Z:1.18 [[ 9.99518333e-01 -5.07969816e-03 -3.06153365e-02 -5.94389301e+00] [ 4.95097756e-03 9.99978590e-01 -4.27878900e-03 -3.43225859e-01] [ 3.06364159e-02 4.12515221e-03 9.99522082e-01 1.17937863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24255784399999 meters SLAMing on 123.30255784399999 meters Centerline goodness : 0.342332 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.36, Z:1.18 [[ 9.99514954e-01 4.47568800e-04 -3.11393116e-02 -5.96584321e+00] [-6.44451304e-04 9.99979866e-01 -6.31288607e-03 -3.55846936e-01] [ 3.11358592e-02 6.32989180e-03 9.99495118e-01 1.17899110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362557844 meters Centerline goodness : 0.344776 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.35, Z:1.18 [[ 9.99509443e-01 -6.95125788e-03 -3.05377506e-02 -5.94571765e+00] [ 6.79125800e-03 9.99962681e-01 -5.34001214e-03 -3.54628798e-01] [ 3.05737308e-02 5.13000281e-03 9.99519350e-01 1.17979073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422557844 meters Centerline goodness : 0.340860 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.36, Z:1.18 [[ 9.99509227e-01 -6.77469636e-03 -3.05844351e-02 -5.94607319e+00] [ 6.62526782e-03 9.99965630e-01 -4.98446998e-03 -3.56605894e-01] [ 3.06171522e-02 4.77939366e-03 9.99519758e-01 1.18059932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48255784399998 meters Centerline goodness : 0.197001 with order 3 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.36, Z:1.18 [[ 9.99531625e-01 2.48951804e-04 -3.06017748e-02 -6.00667907e+00] [-3.41943150e-04 9.99995340e-01 -3.03356093e-03 -3.64192230e-01] [ 3.06008770e-02 3.04260415e-03 9.99527053e-01 1.17702932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54255784399999 meters Centerline goodness : 0.144078 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.37, Z:1.18 [[ 9.99552616e-01 8.24318231e-03 -2.87509568e-02 -5.98573452e+00] [-8.40272903e-03 9.99949938e-01 -5.43286788e-03 -3.65082821e-01] [ 2.87047334e-02 5.67202380e-03 9.99571842e-01 1.17693476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60255784399999 meters Centerline goodness : 0.142681 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.36, Z:1.18 [[ 9.99533443e-01 8.41089744e-03 -2.93624384e-02 -5.98343395e+00] [-8.57764218e-03 9.99947768e-01 -5.55751213e-03 -3.64076956e-01] [ 2.93141611e-02 5.80677972e-03 9.99553381e-01 1.17590510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66255784399999 meters Centerline goodness : 0.234477 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.36, Z:1.17 [[ 9.99507726e-01 8.56216500e-03 -3.01826785e-02 -5.98063828e+00] [-8.73536226e-03 9.99946103e-01 -5.61111716e-03 -3.63679564e-01] [ 3.01330085e-02 5.87201159e-03 9.99528650e-01 1.17486323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722557844 meters Centerline goodness : 0.151186 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.36, Z:1.18 [[ 9.99523215e-01 5.97211813e-04 -3.08704814e-02 -5.96096219e+00] [-7.38638570e-04 9.99989284e-01 -4.57009343e-03 -3.57643903e-01] [ 3.08674213e-02 4.59071660e-03 9.99512945e-01 1.17652800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782557844 meters Centerline goodness : 0.348708 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.36, Z:1.18 [[ 9.99538987e-01 7.21293881e-04 -3.03528261e-02 -5.96260464e+00] [-8.47295562e-04 9.99991077e-01 -4.13857683e-03 -3.59547021e-01] [ 3.03495701e-02 4.16238671e-03 9.99530679e-01 1.17705775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84255784399998 meters Centerline goodness : 0.144924 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.36, Z:1.18 [[ 9.99549660e-01 -3.15559860e-03 -2.98415614e-02 -5.96331661e+00] [ 2.93098961e-03 9.99967071e-01 -7.56746668e-03 -3.61563201e-01] [ 2.98644586e-02 7.47659344e-03 9.99525995e-01 1.17636692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90255784399999 meters Centerline goodness : 0.146687 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.36, Z:1.18 [[ 9.99519738e-01 -3.22744226e-03 -3.08200621e-02 -5.96029512e+00] [ 3.01041673e-03 9.99970366e-01 -7.08550426e-03 -3.64877368e-01] [ 3.08420168e-02 6.98932014e-03 9.99499835e-01 1.17556095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96255784399999 meters Centerline goodness : 0.147945 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.37, Z:1.18 [[ 9.99527811e-01 -3.16483822e-03 -3.05636847e-02 -5.96124305e+00] [ 2.97445466e-03 9.99975904e-01 -6.27253572e-03 -3.68389635e-01] [ 3.05827998e-02 6.17866360e-03 9.99513140e-01 1.17570708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02255784399999 meters Centerline goodness : 0.145558 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.37, Z:1.18 [[ 9.99613722e-01 5.74588893e-03 -2.71917603e-02 -5.94236890e+00] [-5.93862516e-03 9.99957777e-01 -7.01259773e-03 -3.72138802e-01] [ 2.71503186e-02 7.17137059e-03 9.99605638e-01 1.17675198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.082557844 meters Centerline goodness : 0.094893 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.37, Z:1.18 [[ 9.99619953e-01 5.93906839e-03 -2.69198132e-02 -5.94331530e+00] [-6.13484830e-03 9.99955290e-01 -7.19596096e-03 -3.70901033e-01] [ 2.68758723e-02 7.35837513e-03 9.99611696e-01 1.17746595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142557844 meters Centerline goodness : 0.143393 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.37, Z:1.18 [[ 9.99568033e-01 9.21847574e-03 -2.79064048e-02 -5.93961913e+00] [-9.35042463e-03 9.99945697e-01 -4.60146709e-03 -3.67169552e-01] [ 2.78624709e-02 4.86041614e-03 9.99599950e-01 1.17664753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20255784399998 meters Centerline goodness : 0.121507 with order 3 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.36, Z:1.18 [[ 9.99540509e-01 9.40227339e-03 -2.88160933e-02 -5.93720635e+00] [-9.56343135e-03 9.99939363e-01 -5.45992749e-03 -3.63655955e-01] [ 2.87630102e-02 5.73299944e-03 9.99569818e-01 1.17705799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26255784399999 meters Centerline goodness : 0.121519 with order 3 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.35, Z:1.18 [[ 9.99606461e-01 2.46883665e-03 -2.79433127e-02 -5.92204269e+00] [-2.56653300e-03 9.99990717e-01 -3.46090787e-03 -3.54903294e-01] [ 2.79345089e-02 3.53126330e-03 9.99603518e-01 1.17914000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32255784399999 meters Centerline goodness : 0.143581 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.35, Z:1.18 [[ 9.99623173e-01 2.47488730e-03 -2.73383769e-02 -5.92418099e+00] [-2.57036971e-03 9.99990718e-01 -3.45802543e-03 -3.54805402e-01] [ 2.73295649e-02 3.52699209e-03 9.99620256e-01 1.18010244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38255784399999 meters Centerline goodness : 0.141413 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99618891e-01 2.41312579e-03 -2.74999851e-02 -5.92417583e+00] [-2.50674565e-03 9.99991178e-01 -3.37039464e-03 -3.55352645e-01] [ 2.74916093e-02 3.43804562e-03 9.99616122e-01 1.18075548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44255784399999 meters Centerline goodness : 0.144319 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99603132e-01 2.24621544e-03 -2.80808386e-02 -5.92188206e+00] [-2.34359275e-03 9.99991353e-01 -3.43531894e-03 -3.55540997e-01] [ 2.80728793e-02 3.49976562e-03 9.99599752e-01 1.17935172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502557844 meters Centerline goodness : 0.349217 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99594495e-01 1.88274119e-03 -2.84130539e-02 -5.92083447e+00] [-1.98669550e-03 9.99991435e-01 -3.63089512e-03 -3.56231087e-01] [ 2.84059745e-02 3.68587086e-03 9.99589673e-01 1.17916278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562557844 meters Centerline goodness : 0.143806 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99595624e-01 1.91427370e-03 -2.83711691e-02 -5.92117265e+00] [-2.01418152e-03 9.99991870e-01 -3.49329618e-03 -3.56920074e-01] [ 2.83642513e-02 3.54902826e-03 9.99591353e-01 1.17954006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62255784399999 meters Centerline goodness : 0.289415 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99582553e-01 1.99535718e-03 -2.88225165e-02 -5.92001221e+00] [-2.08775377e-03 9.99992777e-01 -3.17597109e-03 -3.58022714e-01] [ 2.88159711e-02 3.23481961e-03 9.99579499e-01 1.17940977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68255784399999 meters Centerline goodness : 0.347848 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99576435e-01 2.01994475e-03 -2.90322340e-02 -5.91959583e+00] [-2.10465321e-03 9.99993616e-01 -2.88747651e-03 -3.59784394e-01] [ 2.90262161e-02 2.94735626e-03 9.99574305e-01 1.17967974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74255784399999 meters Centerline goodness : 0.145478 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99596028e-01 2.05817977e-03 -2.83468612e-02 -5.92170987e+00] [-2.14651839e-03 9.99992934e-01 -3.08626900e-03 -3.58191685e-01] [ 2.83403088e-02 3.14586929e-03 9.99593383e-01 1.18024681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80255784399999 meters Centerline goodness : 0.146345 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.35, Z:1.18 [[ 9.99578704e-01 1.83854880e-03 -2.89661004e-02 -5.91943378e+00] [-1.95231649e-03 9.99990490e-01 -3.89982326e-03 -3.54220716e-01] [ 2.89586549e-02 3.95473127e-03 9.99572787e-01 1.17894496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862557844 meters Centerline goodness : 0.354443 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.35, Z:1.18 [[ 9.99568443e-01 1.63246227e-03 -2.93302417e-02 -5.91844470e+00] [-1.76490465e-03 9.99988361e-01 -4.49023676e-03 -3.51232281e-01] [ 2.93225702e-02 4.54006405e-03 9.99559690e-01 1.17870083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922557844 meters Centerline goodness : 0.351646 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.35, Z:1.18 [[ 9.99584915e-01 1.14321273e-03 -2.87869887e-02 -5.92074112e+00] [-1.28765005e-03 9.99986674e-01 -4.99941387e-03 -3.49420836e-01] [ 2.87808896e-02 5.03440625e-03 9.99573066e-01 1.18023428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98255784399998 meters Centerline goodness : 0.343700 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.35, Z:1.18 [[ 9.99597920e-01 7.62329708e-04 -2.83445994e-02 -5.92194672e+00] [-9.10229626e-04 9.99986038e-01 -5.20538583e-03 -3.49367044e-01] [ 2.83402355e-02 5.22909295e-03 9.99584658e-01 1.18048301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04255784399999 meters Centerline goodness : 0.229783 with order 3 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.35, Z:1.18 [[ 9.99601327e-01 6.90187241e-04 -2.82260562e-02 -5.92276815e+00] [-8.39715009e-04 9.99985676e-01 -5.28599820e-03 -3.48980430e-01] [ 2.82220036e-02 5.30759266e-03 9.99587589e-01 1.18136925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10255784399999 meters Centerline goodness : 0.150153 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.35, Z:1.18 [[ 9.99610408e-01 2.83012094e-04 -2.79097099e-02 -5.92450054e+00] [-4.43454540e-04 9.99983413e-01 -5.74260267e-03 -3.48174164e-01] [ 2.79076217e-02 5.75274209e-03 9.99593953e-01 1.18278276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16255784399999 meters Centerline goodness : 0.127955 with order 3 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.34, Z:1.18 [[ 9.99627403e-01 -7.47342879e-03 -2.62526634e-02 -5.90460577e+00] [ 7.34765765e-03 9.99961078e-01 -4.88399860e-03 -3.44456919e-01] [ 2.62881418e-02 4.68928325e-03 9.99643409e-01 1.18395193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.222557844 meters Centerline goodness : 0.134665 with order 3 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.35, Z:1.19 [[ 9.99652060e-01 -7.64674242e-03 -2.52445415e-02 -5.90811223e+00] [ 7.53803803e-03 9.99961915e-01 -4.39841411e-03 -3.46702869e-01] [ 2.52772136e-02 4.20658941e-03 9.99671630e-01 1.18505660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282557844 meters Centerline goodness : 0.355169 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.35, Z:1.19 [[ 9.99658139e-01 -7.54875976e-03 -2.50324001e-02 -5.90897634e+00] [ 7.45733668e-03 9.99965186e-01 -3.74353433e-03 -3.49521398e-01] [ 2.50597876e-02 3.55557952e-03 9.99679631e-01 1.18532870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34255784399998 meters Centerline goodness : 0.358265 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.35, Z:1.19 [[ 9.99646583e-01 -7.11885075e-03 -2.56131116e-02 -5.90731221e+00] [ 7.04071680e-03 9.99970286e-01 -3.13943611e-03 -3.52022002e-01] [ 2.56346997e-02 2.95799191e-03 9.99667001e-01 1.18531758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40255784399999 meters Centerline goodness : 0.305266 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.19 [[ 9.99595105e-01 4.68163387e-03 -2.80661300e-02 -5.92201487e+00] [-4.76289167e-03 9.99984655e-01 -2.82907417e-03 -3.57392444e-01] [ 2.80524547e-02 2.96160463e-03 9.99602065e-01 1.18560056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46255784399999 meters Centerline goodness : 0.134833 with order 3 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.35, Z:1.18 [[ 9.99445961e-01 7.01687067e-03 -3.25351142e-02 -5.90645993e+00] [-7.10611692e-03 9.99971297e-01 -2.62825525e-03 -3.51112949e-01] [ 3.25157382e-02 2.85799742e-03 9.99467137e-01 1.18160143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52255784399999 meters Centerline goodness : 0.219971 with order 3 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.35, Z:1.18 [[ 9.99407933e-01 1.08346886e-02 -3.26556652e-02 -5.90702793e+00] [-1.08164382e-02 9.99941230e-01 7.35481258e-04 -3.49217958e-01] [ 3.26617147e-02 -3.81827818e-04 9.99466391e-01 1.18320116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.582557844 meters Centerline goodness : 0.343959 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.35, Z:1.18 [[ 9.99425371e-01 1.08287594e-02 -3.21195602e-02 -5.90902054e+00] [-1.08182683e-02 9.99941356e-01 5.00397445e-04 -3.47858926e-01] [ 3.21230953e-02 -1.52631884e-04 9.99483909e-01 1.18417621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642557844 meters Centerline goodness : 0.321353 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.35, Z:1.18 [[ 9.99403395e-01 8.45095052e-03 -3.34878315e-02 -5.90338449e+00] [-8.52157223e-03 9.99961757e-01 -1.96671110e-03 -3.49539444e-01] [ 3.34699302e-02 2.25090673e-03 9.99437190e-01 1.18151943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70255784399998 meters Centerline goodness : 0.087726 with order 2 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.35, Z:1.18 [[ 9.99460705e-01 -8.64924322e-04 -3.28260743e-02 -5.88444166e+00] [ 8.23246235e-04 9.99998838e-01 -1.28315843e-03 -3.47136432e-01] [ 3.28271460e-02 1.25544249e-03 9.99460256e-01 1.18217607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76255784399999 meters Centerline goodness : 0.085425 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.35, Z:1.18 [[ 9.99474134e-01 -4.19696851e-03 -3.21533918e-02 -5.88782480e+00] [ 4.06751719e-03 9.99983362e-01 -4.09040682e-03 -3.50898051e-01] [ 3.21700241e-02 3.95747134e-03 9.99474576e-01 1.18427371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82255784399999 meters Centerline goodness : 0.352527 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.36, Z:1.18 [[ 9.99484509e-01 -3.83433261e-03 -3.18749900e-02 -5.88868960e+00] [ 3.73834723e-03 9.99988299e-01 -3.07035682e-03 -3.55598134e-01] [ 3.18863898e-02 2.94961429e-03 9.99487147e-01 1.18461052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88255784399999 meters Centerline goodness : 0.338965 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.36, Z:1.18 [[ 9.99476773e-01 -3.58520421e-03 -3.21454049e-02 -5.88756272e+00] [ 3.50720986e-03 9.99990769e-01 -2.48235570e-03 -3.58379460e-01] [ 3.21540079e-02 2.36831618e-03 9.99480120e-01 1.18390514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94255784399999 meters Centerline goodness : 0.186089 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.19 [[ 9.99449421e-01 5.43098044e-03 -3.27316111e-02 -5.86876483e+00] [-5.50920894e-03 9.99982178e-01 -2.30028496e-03 -3.66259324e-01] [ 3.27185350e-02 2.47934376e-03 9.99461530e-01 1.18549567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.002557844 meters Centerline goodness : 0.303096 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.37, Z:1.19 [[ 9.99465072e-01 5.37932899e-03 -3.22588348e-02 -5.87098794e+00] [-5.45820864e-03 9.99982325e-01 -2.35764818e-03 -3.66794968e-01] [ 3.22455821e-02 2.53246245e-03 9.99476768e-01 1.18737846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.062557844 meters Centerline goodness : 0.348729 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.19 [[ 9.99426670e-01 7.28963357e-03 -3.30634731e-02 -5.86781579e+00] [-7.32153414e-03 9.99972841e-01 -8.43858450e-04 -3.62765401e-01] [ 3.30564238e-02 1.08544999e-03 9.99452898e-01 1.18654568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12255784399999 meters Centerline goodness : 0.137883 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99402065e-01 7.77872078e-03 -3.36898168e-02 -5.86508480e+00] [-7.80665189e-03 9.99969284e-01 -6.97604364e-04 -3.62017177e-01] [ 3.36833555e-02 9.60191914e-04 9.99432094e-01 1.18498654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18255784399999 meters Centerline goodness : 0.150488 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.36, Z:1.18 [[ 9.99353911e-01 7.96063042e-03 -3.50483747e-02 -5.86037537e+00] [-8.00218236e-03 9.99967436e-01 -1.04544245e-03 -3.60509309e-01] [ 3.50389110e-02 1.32523049e-03 9.99385070e-01 1.18327991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24255784399999 meters Centerline goodness : 0.220772 with order 3 Centerline is valid? [False, False] Translation: X:-5.84, Y:-0.35, Z:1.19 [[ 9.99448105e-01 -1.01223605e-03 -3.32033376e-02 -5.84394920e+00] [ 9.93287545e-04 9.99999334e-01 -5.87170545e-04 -3.54067050e-01] [ 3.32039098e-02 5.53866026e-04 9.99448445e-01 1.18529323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30255784399999 meters Centerline goodness : 0.397987 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.19 [[ 9.99542664e-01 3.69357126e-03 -3.00136572e-02 -5.86974483e+00] [-3.77769311e-03 9.99989093e-01 -2.74656517e-03 -3.58763560e-01] [ 3.00031852e-02 2.85869146e-03 9.99545715e-01 1.18554218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.362557844 meters Centerline goodness : 0.133932 with order 3 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99549306e-01 3.64276123e-03 -2.97979026e-02 -5.86952731e+00] [-3.72902037e-03 9.99989015e-01 -2.83974742e-03 -3.58179420e-01] [ 2.97872308e-02 2.94958455e-03 9.99551910e-01 1.18427241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422557844 meters Centerline goodness : 0.346733 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99533786e-01 3.60821632e-03 -3.03181560e-02 -5.86793431e+00] [-3.69732811e-03 9.99989007e-01 -2.88367506e-03 -3.58194089e-01] [ 3.03074178e-02 2.99442682e-03 9.99536139e-01 1.18376127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48255784399998 meters Centerline goodness : 0.347870 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99532158e-01 3.58325124e-03 -3.03747375e-02 -5.86795112e+00] [-3.67203655e-03 9.99989146e-01 -2.86772094e-03 -3.58334005e-01] [ 3.03641321e-02 2.97791645e-03 9.99534467e-01 1.18401693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54255784399999 meters Centerline goodness : 0.149791 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.19 [[ 9.99576030e-01 1.45147972e-03 -2.90801093e-02 -5.87280143e+00] [-1.57690423e-03 9.99989552e-01 -4.29060017e-03 -3.62305764e-01] [ 2.90735778e-02 4.33463763e-03 9.99567876e-01 1.18515967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60255784399999 meters Centerline goodness : 0.351331 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99570631e-01 1.40365895e-03 -2.92674342e-02 -5.87186968e+00] [-1.53437277e-03 9.99988947e-01 -4.44420661e-03 -3.61529991e-01] [ 2.92608725e-02 4.48720556e-03 9.99561737e-01 1.18435626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66255784399999 meters Centerline goodness : 0.346603 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99583795e-01 1.44619895e-03 -2.88122270e-02 -5.87281064e+00] [-1.58883270e-03 9.99986594e-01 -4.92818063e-03 -3.58669367e-01] [ 2.88047136e-02 4.97190731e-03 9.99572693e-01 1.18396309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722557844 meters Centerline goodness : 0.311077 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.36, Z:1.18 [[ 9.99580563e-01 5.48565654e-03 -2.84359887e-02 -5.87403575e+00] [-5.53002474e-03 9.99983611e-01 -1.48187600e-03 -3.55217664e-01] [ 2.84273936e-02 1.63850617e-03 9.99594517e-01 1.18447068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782557844 meters Centerline goodness : 0.344568 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:-0.34, Z:1.19 [[ 9.99515052e-01 9.81735856e-05 -3.11392289e-02 -5.85196633e+00] [-1.03613998e-04 9.99999980e-01 -1.73098918e-04 -3.43479069e-01] [ 3.11392113e-02 1.76241434e-04 9.99515042e-01 1.18552153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84255784399998 meters Centerline goodness : 0.126894 with order 1 Centerline is valid? [False, False] Translation: X:-5.87, Y:-0.34, Z:1.18 [[ 9.99453331e-01 7.63851193e-03 -3.21666408e-02 -5.87266979e+00] [-7.69441748e-03 9.99969094e-01 -1.61457098e-03 -3.44861593e-01] [ 3.21533137e-02 1.86119191e-03 9.99481216e-01 1.18449701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90255784399999 meters Centerline goodness : 0.368535 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.33, Z:1.19 [[ 9.99631618e-01 9.64292989e-04 -2.71237766e-02 -5.85908371e+00] [-9.65026837e-04 9.99999534e-01 -1.39655266e-05 -3.31829972e-01] [ 2.71237505e-02 4.01355543e-05 9.99632083e-01 1.18646504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96255784399999 meters Centerline goodness : 0.348699 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.33, Z:1.19 [[ 9.99642654e-01 6.82948737e-04 -2.67225978e-02 -5.86022493e+00] [-7.02647035e-04 9.99999488e-01 -7.27757054e-04 -3.28394486e-01] [ 2.67220871e-02 7.46273547e-04 9.99642623e-01 1.18658648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02255784399999 meters Centerline goodness : 0.351550 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.33, Z:1.19 [[ 9.99630470e-01 4.47415066e-04 -2.71794490e-02 -5.85880187e+00] [-4.71887625e-04 9.99999489e-01 -8.93999403e-04 -3.28085583e-01] [ 2.71790352e-02 9.06494689e-04 9.99630171e-01 1.18608097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.082557844 meters Centerline goodness : 0.125107 with order 3 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.33, Z:1.19 [[ 9.99562151e-01 -2.36056786e-03 -2.94946347e-02 -5.90458333e+00] [ 2.32346420e-03 9.99996466e-01 -1.29218925e-03 -3.33320570e-01] [ 2.94975808e-02 1.22309374e-03 9.99564103e-01 1.18673031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142557844 meters Centerline goodness : 0.148846 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.34, Z:1.19 [[ 9.99561786e-01 -2.38260485e-03 -2.95052368e-02 -5.90467528e+00] [ 2.35256377e-03 9.99996678e-01 -1.05283298e-03 -3.35091784e-01] [ 2.95076472e-02 9.82958665e-04 9.99564071e-01 1.18701865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20255784399998 meters Centerline goodness : 0.347821 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.33, Z:1.18 [[ 9.99556838e-01 -2.27077820e-03 -2.96811723e-02 -5.90297768e+00] [ 2.23347852e-03 9.99996674e-01 -1.28977129e-03 -3.33095549e-01] [ 2.96840024e-02 1.22290745e-03 9.99558585e-01 1.18486334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26255784399999 meters Centerline goodness : 0.347242 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.33, Z:1.19 [[ 9.99535555e-01 6.94582825e-03 -2.96720386e-02 -5.88094335e+00] [-7.02499899e-03 9.99972035e-01 -2.56477990e-03 -3.33180353e-01] [ 2.96533943e-02 2.77203474e-03 9.99556398e-01 1.18573502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32255784399999 meters Centerline goodness : 0.348708 with order 1 Centerline is valid? [False, False] Translation: X:-5.88, Y:-0.33, Z:1.19 [[ 9.99551897e-01 3.17557105e-03 -2.97644100e-02 -5.88057823e+00] [-3.35919177e-03 9.99975623e-01 -6.12116517e-03 -3.34175899e-01] [ 2.97442463e-02 6.21840662e-03 9.99538199e-01 1.18516348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38255784399999 meters Centerline goodness : 0.344038 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.33, Z:1.18 [[ 9.99532631e-01 -6.64830823e-03 -2.98382207e-02 -5.90337668e+00] [ 6.50243959e-03 9.99966443e-01 -4.98302437e-03 -3.34407119e-01] [ 2.98703481e-02 4.78667423e-03 9.99542320e-01 1.18447962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44255784399999 meters Centerline goodness : 0.341420 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.34, Z:1.18 [[ 9.99556422e-01 -6.90886881e-03 -2.89694037e-02 -5.90576818e+00] [ 6.78984603e-03 9.99968108e-01 -4.20492832e-03 -3.37484406e-01] [ 2.89975311e-02 4.00636531e-03 9.99571454e-01 1.18413516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502557844 meters Centerline goodness : 0.358348 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.34, Z:1.18 [[ 9.99487649e-01 -8.94708509e-03 -3.07309191e-02 -5.89864245e+00] [ 8.76608716e-03 9.99943459e-01 -6.01945460e-03 -3.40216290e-01] [ 3.07830381e-02 5.74698061e-03 9.99509568e-01 1.18113510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.562557844 meters Centerline goodness : 0.343525 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.34, Z:1.18 [[ 9.99477206e-01 -8.84954619e-03 -3.10966116e-02 -5.89723921e+00] [ 8.67007000e-03 9.99944999e-01 -5.90167535e-03 -3.40536647e-01] [ 3.11471284e-02 5.62898019e-03 9.99498960e-01 1.18029825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62255784399999 meters Centerline goodness : 0.343141 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.34, Z:1.18 [[ 9.99488041e-01 -8.51904805e-03 -3.08396151e-02 -5.89832166e+00] [ 8.36013395e-03 9.99951123e-01 -5.27820350e-03 -3.42967187e-01] [ 3.08830730e-02 5.01767796e-03 9.99510410e-01 1.18101336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68255784399999 meters Centerline goodness : 0.324566 with order 1 Centerline is valid? [False, False] Translation: X:-5.90, Y:-0.35, Z:1.18 [[ 0.999455 -0.01228999 -0.03063741 -5.89887821] [ 0.01203417 0.99989129 -0.00852032 -0.34682513] [ 0.03073879 0.00814698 0.99949425 1.18158074] [ 0. 0. 0. 1. ]] SLAMing on 127.74255784399999 meters Centerline goodness : 0.335171 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99609263e-01 -4.79502143e-03 -2.75377732e-02 -5.91657598e+00] [ 4.55954759e-03 9.99952561e-01 -8.60737540e-03 -3.57352808e-01] [ 2.75777394e-02 8.47845239e-03 9.99583705e-01 1.17731388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80255784399999 meters Centerline goodness : 0.127444 with order 3 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99599259e-01 -4.43892713e-03 -2.79574069e-02 -5.91517178e+00] [ 4.22203582e-03 9.99960571e-01 -7.81217758e-03 -3.60277899e-01] [ 2.79909822e-02 7.69100975e-03 9.99578588e-01 1.17657591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.862557844 meters Centerline goodness : 0.147677 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.36, Z:1.18 [[ 9.99602629e-01 -4.13404257e-03 -2.78835907e-02 -5.91603134e+00] [ 3.93062850e-03 9.99965293e-01 -7.34598763e-03 -3.62028032e-01] [ 2.79129916e-02 7.23346851e-03 9.99584184e-01 1.17768096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922557844 meters Centerline goodness : 0.142669 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.37, Z:1.18 [[ 9.99522142e-01 -4.41193771e-03 -3.05944975e-02 -5.96416237e+00] [ 4.23275299e-03 9.99973524e-01 -5.91905681e-03 -3.65805997e-01] [ 3.06198020e-02 5.78672939e-03 9.99514353e-01 1.17948652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98255784399998 meters Centerline goodness : 0.345361 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.36, Z:1.18 [[ 9.99525909e-01 -4.55572449e-03 -3.04500136e-02 -5.96422137e+00] [ 4.36450535e-03 9.99970356e-01 -6.34329000e-03 -3.63820328e-01] [ 3.04780092e-02 6.20738345e-03 9.99516163e-01 1.17884677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042557844 meters Centerline goodness : 0.156477 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.36, Z:1.18 [[ 9.99521615e-01 -4.52251820e-03 -3.05955426e-02 -5.96385307e+00] [ 4.33505652e-03 9.99971441e-01 -6.19065175e-03 -3.64474601e-01] [ 3.06226662e-02 6.05505683e-03 9.99512676e-01 1.17874098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102557844 meters Centerline goodness : 0.347147 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.37, Z:1.18 [[ 9.99498001e-01 -4.68646529e-03 -3.13334250e-02 -5.96211335e+00] [ 4.50142764e-03 9.99972028e-01 -5.97337438e-03 -3.66269287e-01] [ 3.13605425e-02 5.82933061e-03 9.99491138e-01 1.17892912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162557844 meters Centerline goodness : 0.347981 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.37, Z:1.18 [[ 9.99507810e-01 -5.23140464e-03 -3.09317172e-02 -5.96362084e+00] [ 5.06446547e-03 9.99972199e-01 -5.47290674e-03 -3.69159334e-01] [ 3.09594883e-02 5.31356041e-03 9.99506516e-01 1.17868685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222557844 meters Centerline goodness : 0.345565 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.37, Z:1.18 [[ 9.99537804e-01 -5.25834135e-03 -2.99420914e-02 -5.96624562e+00] [ 5.12469086e-03 9.99976569e-01 -4.53862384e-03 -3.72291730e-01] [ 2.99652555e-02 4.38308214e-03 9.99541331e-01 1.17818464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282557844 meters Centerline goodness : 0.342399 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.38, Z:1.18 [[ 9.99522358e-01 -4.88364979e-03 -3.05156777e-02 -5.96448751e+00] [ 4.77399154e-03 9.99981887e-01 -3.66533097e-03 -3.75320289e-01] [ 3.05330252e-02 3.51789867e-03 9.99527568e-01 1.17733981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342557844 meters Centerline goodness : 0.345573 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.38, Z:1.18 [[ 9.99504168e-01 -4.33455913e-03 -3.11870018e-02 -5.96207077e+00] [ 4.25157178e-03 9.99987244e-01 -2.72678115e-03 -3.78108674e-01] [ 3.11984234e-02 2.59283535e-03 9.99509848e-01 1.17599523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402557844 meters Centerline goodness : 0.228378 with order 3 Centerline is valid? [False, False] Translation: X:-5.96, Y:-0.38, Z:1.18 [[ 9.99519956e-01 -4.41469318e-03 -3.06654133e-02 -5.96358138e+00] [ 4.33671664e-03 9.99987193e-01 -2.60886152e-03 -3.78445588e-01] [ 3.06765379e-02 2.47462194e-03 9.99526301e-01 1.17612595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462557844 meters Centerline goodness : 0.227722 with order 3 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.38, Z:1.18 [[ 9.99578859e-01 4.86701414e-03 -2.86080001e-02 -5.94747431e+00] [-4.94623658e-03 9.99984125e-01 -2.69912740e-03 -3.84794694e-01] [ 2.85944092e-02 2.83949262e-03 9.99587063e-01 1.17777568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52255784399998 meters Centerline goodness : 0.347490 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.38, Z:1.18 [[ 9.99612940e-01 -5.01903296e-03 -2.73638236e-02 -5.92641773e+00] [ 4.92207644e-03 9.99981372e-01 -3.60944334e-03 -3.84866034e-01] [ 2.73814298e-02 3.47335944e-03 9.99619024e-01 1.17821673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58255784399998 meters Centerline goodness : 0.347489 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.39, Z:1.18 [[ 9.99575046e-01 -5.33938667e-03 -2.86569211e-02 -5.92292826e+00] [ 5.24859060e-03 9.99980969e-01 -3.24266746e-03 -3.87252025e-01] [ 2.86736896e-02 3.09088102e-03 9.99584046e-01 1.17697456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64255784399998 meters Centerline goodness : 0.174532 with order 3 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.39, Z:1.18 [[ 9.99591654e-01 -5.67433371e-03 -2.80058573e-02 -5.92574778e+00] [ 5.61999416e-03 9.99982170e-01 -2.01862365e-03 -3.92085789e-01] [ 2.80168123e-02 1.86040660e-03 9.99605721e-01 1.17708747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70255784399998 meters Centerline goodness : 0.331968 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:-0.40, Z:1.18 [[ 9.99665337e-01 1.17482258e-03 -2.58424901e-02 -5.90532956e+00] [-1.29345318e-03 9.99988701e-01 -4.57428811e-03 -3.96922197e-01] [ 2.58368241e-02 4.60618331e-03 9.99655561e-01 1.17636521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76255784399999 meters SLAMing on 128.822557844 meters Centerline goodness : 0.349293 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.40, Z:1.18 [[ 9.99702255e-01 -1.86961598e-04 -2.44001450e-02 -5.86076051e+00] [ 2.05945940e-05 9.99976755e-01 -6.81835250e-03 -3.99593160e-01] [ 2.44008526e-02 6.81581986e-03 9.99679020e-01 1.17614571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.882557844 meters SLAMing on 128.942557844 meters Centerline goodness : 0.219485 with order 3 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.40, Z:1.17 [[ 0.99960051 -0.01026113 -0.02633484 -5.83242664] [ 0.01006478 0.99992064 -0.00757758 -0.4003016 ] [ 0.02641051 0.0073095 0.99962446 1.1734332 ] [ 0. 0. 0. 1. ]] SLAMing on 129.002557844 meters Centerline goodness : 0.336713 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:-0.41, Z:1.17 [[ 0.99955714 -0.01321917 -0.02666027 -5.83014653] [ 0.01297494 0.99987245 -0.0093131 -0.40763786] [ 0.02677998 0.00896306 0.99960117 1.17183892] [ 0. 0. 0. 1. ]] SLAMing on 129.062557844 meters Centerline goodness : 0.213726 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.41, Z:1.17 [[ 9.99705058e-01 -5.29144032e-03 -2.37022748e-02 -5.81291692e+00] [ 5.03926964e-03 9.99930203e-01 -1.06862168e-02 -4.13968662e-01] [ 2.37571660e-02 1.05636228e-02 9.99661946e-01 1.17292602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122557844 meters Centerline goodness : 0.386546 with order 3 Centerline is valid? [False, False] Translation: X:-5.81, Y:-0.42, Z:1.17 [[ 9.99706225e-01 -5.18777839e-03 -2.36759455e-02 -5.81289064e+00] [ 4.94565459e-03 9.99934994e-01 -1.02736962e-02 -4.15699487e-01] [ 2.37277041e-02 1.01535849e-02 9.99666895e-01 1.17263210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182557844 meters Centerline goodness : 0.328621 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:-0.42, Z:1.17 [[ 9.99732376e-01 3.73953692e-03 -2.28296547e-02 -5.79351863e+00] [-4.00143736e-03 9.99926588e-01 -1.14370578e-02 -4.20271906e-01] [ 2.27852095e-02 1.15253484e-02 9.99673947e-01 1.17335334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242557844 meters Centerline goodness : 0.322028 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.41, Z:1.18 [[ 9.99691331e-01 -2.42445917e-03 -2.47257870e-02 -5.77449646e+00] [ 2.16606910e-03 9.99942825e-01 -1.04716607e-02 -4.14947361e-01] [ 2.47497614e-02 1.04148707e-02 9.99639425e-01 1.17527363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30255784399998 meters Centerline goodness : 0.338211 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.41, Z:1.17 [[ 9.99677240e-01 -2.44028916e-03 -2.52875542e-02 -5.77255384e+00] [ 2.17444490e-03 9.99942141e-01 -1.05350202e-02 -4.14402811e-01] [ 2.53117995e-02 1.04766335e-02 9.99624706e-01 1.17433647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36255784399998 meters Centerline goodness : 0.146182 with order 3 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.41, Z:1.18 [[ 9.99736821e-01 -1.63890690e-03 -2.28823695e-02 -5.73094234e+00] [ 1.36007658e-03 9.99924706e-01 -1.21956276e-02 -4.12703441e-01] [ 2.29006340e-02 1.21612962e-02 9.99663775e-01 1.17621263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42255784399998 meters Centerline goodness : 0.156334 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.41, Z:1.18 [[ 9.99787157e-01 7.55581373e-04 -2.06172123e-02 -5.73963009e+00] [-9.79892606e-04 9.99940419e-01 -1.08718718e-02 -4.05689530e-01] [ 2.06077693e-02 1.08897604e-02 9.99728330e-01 1.18009462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48255784399998 meters Centerline goodness : 0.126861 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.40, Z:1.18 [[ 9.99772556e-01 4.04845255e-03 -2.09390956e-02 -5.73681741e+00] [-4.22849270e-03 9.99954412e-01 -8.56116089e-03 -3.98918236e-01] [ 2.09034816e-02 8.64775453e-03 9.99744098e-01 1.17769797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542557844 meters Centerline goodness : 0.127007 with order 3 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.39, Z:1.18 [[ 0.99974237 0.00712709 -0.02155005 -5.7342174 ] [-0.00726457 0.99995372 -0.00630822 -0.39323969] [ 0.02150409 0.00646314 0.99974787 1.17649373] [ 0. 0. 0. 1. ]] SLAMing on 129.602557844 meters Centerline goodness : 0.126917 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.39, Z:1.18 [[ 9.99707824e-01 1.03148336e-02 -2.18602649e-02 -5.73514072e+00] [-1.04072949e-02 9.99937354e-01 -4.12011194e-03 -3.86078004e-01] [ 2.18163972e-02 4.34641437e-03 9.99752546e-01 1.17859597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662557844 meters Centerline goodness : 0.208628 with order 3 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.38, Z:1.18 [[ 9.99710634e-01 9.93478639e-03 -2.19077352e-02 -5.73447308e+00] [-1.00465772e-02 9.99937038e-01 -4.99865283e-03 -3.82126418e-01] [ 2.18566953e-02 5.21730414e-03 9.99747500e-01 1.17770013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722557844 meters Centerline goodness : 0.152298 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.37, Z:1.18 [[ 9.99737268e-01 2.89725563e-03 -2.27376658e-02 -5.71453102e+00] [-3.00694809e-03 9.99984000e-01 -4.79155576e-03 -3.72414761e-01] [ 2.27234196e-02 4.85866784e-03 9.99729983e-01 1.17903761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782557844 meters Centerline goodness : 0.168892 with order 3 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.37, Z:1.18 [[ 9.99730343e-01 6.61775796e-03 -2.22586076e-02 -5.71631777e+00] [-6.66630278e-03 9.99975559e-01 -2.10745202e-03 -3.65180465e-01] [ 2.22441170e-02 2.25526635e-03 9.99750025e-01 1.18018702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842557844 meters Centerline goodness : 0.349704 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.36, Z:1.18 [[ 9.99715851e-01 1.00385241e-02 -2.16204902e-02 -5.67102923e+00] [-1.00877705e-02 9.99946763e-01 -2.16990337e-03 -3.56141382e-01] [ 2.15975566e-02 2.38738933e-03 9.99763895e-01 1.17920703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902557844 meters Centerline goodness : 0.121046 with order 3 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.35, Z:1.18 [[ 9.99773495e-01 2.62697514e-03 -2.11200967e-02 -5.68834386e+00] [-2.63776235e-03 9.99996404e-01 -4.82913944e-04 -3.46248154e-01] [ 2.11187521e-02 5.38514357e-04 9.99776829e-01 1.17616602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962557844 meters Centerline goodness : 0.214893 with order 3 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.34, Z:1.18 [[ 9.99772738e-01 2.41704186e-03 -2.11809042e-02 -5.68821456e+00] [-2.44536676e-03 9.99996150e-01 -1.31148621e-03 -3.42390691e-01] [ 2.11776527e-02 1.36298324e-03 9.99774799e-01 1.17623370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02255784399998 meters Centerline goodness : 0.227337 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.34, Z:1.18 [[ 9.99813519e-01 3.59677945e-03 -1.89734268e-02 -5.64410827e+00] [-3.63611234e-03 9.99991311e-01 -2.03896089e-03 -3.39291870e-01] [ 1.89659283e-02 2.10757017e-03 9.99817909e-01 1.17627809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08255784399998 meters Centerline goodness : 0.202836 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.34, Z:1.18 [[ 9.99820254e-01 3.59187125e-03 -1.86160511e-02 -5.64510114e+00] [-3.63390594e-03 9.99990923e-01 -2.22464585e-03 -3.38210540e-01] [ 1.86078915e-02 2.29189495e-03 9.99824231e-01 1.17647729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14255784399998 meters Centerline goodness : 0.227784 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.34, Z:1.18 [[ 9.99824195e-01 3.73920421e-03 -1.83738334e-02 -5.64567804e+00] [-3.78831416e-03 9.99989343e-01 -2.63874137e-03 -3.35313018e-01] [ 1.83637708e-02 2.70788332e-03 9.99827705e-01 1.17634172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20255784399998 meters Centerline goodness : 0.145716 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.33, Z:1.18 [[ 9.99809816e-01 3.73744035e-03 -1.91406190e-02 -5.64353189e+00] [-3.79985954e-03 9.99987578e-01 -3.22575499e-03 -3.32147659e-01] [ 1.91283252e-02 3.29787316e-03 9.99811598e-01 1.17595669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26255784399999 meters Centerline goodness : 0.175235 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.33, Z:1.18 [[ 9.99813598e-01 4.03806395e-03 -1.88802597e-02 -5.64408203e+00] [-4.10779208e-03 9.99984880e-01 -3.65585428e-03 -3.28712263e-01] [ 1.88652117e-02 3.73272900e-03 9.99815068e-01 1.17566179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322557844 meters Centerline goodness : 0.340698 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.33, Z:1.18 [[ 9.99820304e-01 3.94877639e-03 -1.85409593e-02 -5.64498643e+00] [-4.02918086e-03 9.99982632e-01 -4.30123504e-03 -3.25741035e-01] [ 1.85236527e-02 4.37516701e-03 9.99818850e-01 1.17596113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.382557844 meters Centerline goodness : 0.147512 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.32, Z:1.18 [[ 9.99811708e-01 3.98831000e-03 -1.89905736e-02 -5.64333929e+00] [-4.07589085e-03 9.99981227e-01 -4.57533697e-03 -3.24323778e-01] [ 1.89719692e-02 4.65187897e-03 9.99809194e-01 1.17524792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.442557844 meters Centerline goodness : 0.331303 with order 2 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.32, Z:1.18 [[ 9.99805472e-01 -2.43725185e-03 -1.95724010e-02 -5.62262962e+00] [ 2.38333873e-03 9.99993303e-01 -2.77740214e-03 -3.16154286e-01] [ 1.95790392e-02 2.73021419e-03 9.99804584e-01 1.17567435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502557844 meters Centerline goodness : 0.219389 with order 3 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.32, Z:1.18 [[ 9.99840574e-01 -1.87090028e-03 -1.77574482e-02 -5.62805913e+00] [ 1.82812677e-03 9.99995389e-01 -2.42469166e-03 -3.16175463e-01] [ 1.77619027e-02 2.39184223e-03 9.99839384e-01 1.17711123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562557844 meters Centerline goodness : 0.125853 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.32, Z:1.18 [[ 9.99781907e-01 -2.25711453e-03 -2.07615871e-02 -5.67162709e+00] [ 2.23495313e-03 9.99996908e-01 -1.09056415e-03 -3.18931556e-01] [ 2.07639844e-02 1.04392513e-03 9.99783860e-01 1.17705653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622557844 meters Centerline goodness : 0.348210 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.32, Z:1.18 [[ 9.99773200e-01 -2.10277667e-03 -2.11926164e-02 -5.66976439e+00] [ 2.08539611e-03 9.99997471e-01 -8.42190186e-04 -3.20092428e-01] [ 2.11943338e-02 7.97804177e-04 9.99775057e-01 1.17561650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682557844 meters Centerline goodness : 0.328849 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.32, Z:1.18 [[ 9.99763891e-01 -2.11864981e-03 -2.16257703e-02 -5.66859652e+00] [ 2.10678491e-03 9.99997617e-01 -5.71414863e-04 -3.22408203e-01] [ 2.16269294e-02 5.25719100e-04 9.99765972e-01 1.17556976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742557844 meters Centerline goodness : 0.347074 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.32, Z:1.17 [[ 9.99755375e-01 -1.93419809e-03 -2.20328921e-02 -5.66719312e+00] [ 1.92694428e-03 9.99998082e-01 -3.50452192e-04 -3.22863688e-01] [ 2.20335277e-02 3.07910308e-04 9.99757185e-01 1.17484793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80255784399998 meters Centerline goodness : 0.346391 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.32, Z:1.18 [[ 9.99760649e-01 -1.73840528e-03 -2.18087781e-02 -5.66785038e+00] [ 1.73854950e-03 9.99998489e-01 -1.23473982e-05 -3.24386291e-01] [ 2.18087666e-02 -2.55711973e-05 9.99762160e-01 1.17508820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86255784399998 meters Centerline goodness : 0.342765 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.33, Z:1.18 [[ 9.99751418e-01 -1.64642162e-03 -2.22349083e-02 -5.66677736e+00] [ 1.65703814e-03 9.99998522e-01 4.59055051e-04 -3.27438496e-01] [ 2.22341196e-02 -4.95785029e-04 9.99752668e-01 1.17512414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92255784399998 meters Centerline goodness : 0.343192 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.33, Z:1.17 [[ 9.99749767e-01 -1.30581786e-03 -2.23315506e-02 -5.66593313e+00] [ 1.33363736e-03 9.99998353e-01 1.23090141e-03 -3.30610585e-01] [ 2.23299065e-02 -1.26037558e-03 9.99749862e-01 1.17417680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98255784399998 meters Centerline goodness : 0.345682 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.33, Z:1.17 [[ 9.99743901e-01 -5.32979039e-03 -2.19937851e-02 -5.66648721e+00] [ 5.26794782e-03 9.99982009e-01 -2.86880144e-03 -3.30466322e-01] [ 2.20086796e-02 2.75220463e-03 9.99753991e-01 1.17362528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042557844 meters Centerline goodness : 0.345534 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.33, Z:1.17 [[ 9.99742614e-01 -5.21003841e-03 -2.20807777e-02 -5.66628791e+00] [ 5.15343594e-03 9.99983290e-01 -2.61955571e-03 -3.31573981e-01] [ 2.20940567e-02 2.50508960e-03 9.99752758e-01 1.17361331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102557844 meters Centerline goodness : 0.341193 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.33, Z:1.17 [[ 9.99741155e-01 -5.00687661e-03 -2.21935812e-02 -5.66569290e+00] [ 4.96065983e-03 9.99985412e-01 -2.13700484e-03 -3.33722064e-01] [ 2.22039572e-02 2.02635688e-03 9.99751408e-01 1.17311557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162557844 meters Centerline goodness : 0.340855 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.34, Z:1.17 [[ 9.99742228e-01 -4.88627971e-03 -2.21720997e-02 -5.66575603e+00] [ 4.84705468e-03 9.99986592e-01 -1.82251340e-03 -3.35317101e-01] [ 2.21807077e-02 1.71457422e-03 9.99752508e-01 1.17316402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222557844 meters Centerline goodness : 0.113222 with order 2 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.34, Z:1.17 [[ 9.99741912e-01 2.69401419e-03 -2.25577325e-02 -5.68610108e+00] [-2.75426418e-03 9.99992721e-01 -2.64028126e-03 -3.41780857e-01] [ 2.25504554e-02 2.70172979e-03 9.99742056e-01 1.17218556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282557844 meters Centerline goodness : 0.340071 with order 1 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.34, Z:1.17 [[ 9.99755056e-01 2.91330809e-03 -2.19394762e-02 -5.68837416e+00] [-2.96525812e-03 9.99992876e-01 -2.33571988e-03 -3.42901232e-01] [ 2.19325152e-02 2.40020397e-03 9.99756572e-01 1.17340740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342557844 meters Centerline goodness : 0.148178 with order 1 Centerline is valid? [False, False] Translation: X:-5.69, Y:-0.34, Z:1.17 [[ 9.99757478e-01 3.04039055e-03 -2.18114890e-02 -5.68818721e+00] [-3.09066506e-03 9.99992644e-01 -2.27161537e-03 -3.42785589e-01] [ 2.18044219e-02 2.33847646e-03 9.99759520e-01 1.17253799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402557844 meters Centerline goodness : 0.239660 with order 3 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.35, Z:1.17 [[ 9.99686615e-01 1.12539775e-03 -2.50081030e-02 -5.73195775e+00] [-1.18287200e-03 9.99996693e-01 -2.28355088e-03 -3.47784567e-01] [ 2.50054504e-02 2.31241663e-03 9.99684640e-01 1.17275141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462557844 meters Centerline goodness : 0.153216 with order 1 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.35, Z:1.17 [[ 9.99684566e-01 -6.19647878e-03 -2.43386768e-02 -5.71302480e+00] [ 6.16881029e-03 9.99980239e-01 -1.21172916e-03 -3.45440608e-01] [ 2.43457043e-02 1.06120626e-03 9.99703036e-01 1.17481039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52255784399998 meters Centerline goodness : 0.373787 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.35, Z:1.17 [[ 9.99688118e-01 -6.11084386e-03 -2.42141316e-02 -5.71314834e+00] [ 6.08557441e-03 9.99980859e-01 -1.11713547e-03 -3.45553534e-01] [ 2.42204948e-02 9.69430157e-04 9.99706171e-01 1.17442606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58255784399998 meters Centerline goodness : 0.153476 with order 1 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.35, Z:1.17 [[ 9.99694886e-01 1.13842176e-03 -2.46746772e-02 -5.73217569e+00] [-1.18577782e-03 9.99997483e-01 -1.90467044e-03 -3.53590617e-01] [ 2.46724468e-02 1.93334798e-03 9.99693719e-01 1.17293396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64255784399998 meters Centerline goodness : 0.152600 with order 1 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.35, Z:1.17 [[ 9.99662536e-01 -6.39519374e-03 -2.51776663e-02 -5.71080331e+00] [ 6.37074393e-03 9.99979154e-01 -1.05118512e-03 -3.50597463e-01] [ 2.51838640e-02 8.90429915e-04 9.99682440e-01 1.17427932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70255784399998 meters Centerline goodness : 0.157495 with order 1 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.35, Z:1.17 [[ 9.99655624e-01 -6.38875212e-03 -2.54522687e-02 -5.71012669e+00] [ 6.37433607e-03 9.99979474e-01 -6.47489753e-04 -3.53024635e-01] [ 2.54558829e-02 4.85025458e-04 9.99675829e-01 1.17437815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76255784399999 meters Centerline goodness : 0.343974 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.36, Z:1.18 [[ 9.99590246e-01 -8.44667176e-03 -2.73494694e-02 -5.75699574e+00] [ 8.45490830e-03 9.99964239e-01 1.85530692e-04 -3.61876130e-01] [ 2.73469243e-02 -4.16691926e-04 9.99625916e-01 1.17598056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822557844 meters Centerline goodness : 0.344454 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99670344e-01 -1.02099602e-03 -2.56546647e-02 -5.73523634e+00] [ 9.57804658e-04 9.99996478e-01 -2.47532024e-03 -3.63044233e-01] [ 2.56571016e-02 2.44993208e-03 9.99667800e-01 1.17527867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.882557844 meters Centerline goodness : 0.345986 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99677003e-01 -9.54871844e-04 -2.53964163e-02 -5.73597812e+00] [ 8.92028348e-04 9.99996513e-01 -2.48571641e-03 -3.62780898e-01] [ 2.53987012e-02 2.46225921e-03 9.99674369e-01 1.17543544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942557844 meters Centerline goodness : 0.286759 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99712205e-01 2.88263314e-04 -2.39879836e-02 -5.74126453e+00] [-3.27195593e-04 9.99998636e-01 -1.61908175e-03 -3.61936342e-01] [ 2.39874842e-02 1.62646455e-03 9.99710936e-01 1.17748817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002557844 meters Centerline goodness : 0.375038 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99708954e-01 7.00612095e-05 -2.41247442e-02 -5.74109310e+00] [-1.19296587e-04 9.99997913e-01 -2.03943315e-03 -3.60626318e-01] [ 2.41245509e-02 2.04171758e-03 9.99706876e-01 1.17777444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062557844 meters Centerline goodness : 0.147305 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99694920e-01 1.11733994e-04 -2.46992995e-02 -5.73874902e+00] [-1.66583194e-04 9.99997525e-01 -2.21863197e-03 -3.59262298e-01] [ 2.46989905e-02 2.22206959e-03 9.99692464e-01 1.17614044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122557844 meters Centerline goodness : 0.344667 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99690843e-01 -9.06103120e-05 -2.48638366e-02 -5.73837621e+00] [ 2.49567137e-05 9.99996513e-01 -2.64082325e-03 -3.57644145e-01] [ 2.48639892e-02 2.63938630e-03 9.99687359e-01 1.17624865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182557844 meters Centerline goodness : 0.152778 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99685975e-01 -2.41500667e-04 -2.50577843e-02 -5.73777711e+00] [ 1.66446705e-04 9.99995494e-01 -2.99727788e-03 -3.56133512e-01] [ 2.50583953e-02 2.99216587e-03 9.99681511e-01 1.17607149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242557844 meters Centerline goodness : 0.343877 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.35, Z:1.18 [[ 9.99676300e-01 3.73587797e-03 -2.51662132e-02 -5.73713301e+00] [-3.72563015e-03 9.99992957e-01 4.54080489e-04 -3.52497870e-01] [ 2.51677324e-02 -3.60173501e-04 9.99683178e-01 1.17538775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30255784399998 meters Centerline goodness : 0.152917 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.35, Z:1.18 [[ 9.99674907e-01 3.59525410e-03 -2.52419250e-02 -5.73718626e+00] [-3.58890406e-03 9.99993516e-01 2.96865387e-04 -3.52076473e-01] [ 2.52428287e-02 -2.06178031e-04 9.99681328e-01 1.17581077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36255784399998 meters Centerline goodness : 0.343312 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.35, Z:1.18 [[ 9.99676730e-01 -6.82000662e-04 -2.54159361e-02 -5.73662537e+00] [ 5.83699860e-04 9.99992322e-01 -3.87490189e-03 -3.51869082e-01] [ 2.54183836e-02 3.85881397e-03 9.99669453e-01 1.17542463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42255784399998 meters Centerline goodness : 0.154805 with order 3 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99685834e-01 -1.22019245e-03 -2.50348765e-02 -5.73784300e+00] [ 1.13379226e-03 9.99993354e-01 -3.46509714e-03 -3.55480634e-01] [ 2.50389382e-02 3.43562417e-03 9.99680573e-01 1.17610480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48255784399998 meters Centerline goodness : 0.348644 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99688901e-01 -1.42480051e-03 -2.49012194e-02 -5.73864401e+00] [ 1.35065782e-03 9.99994606e-01 -2.99403780e-03 -3.58945834e-01] [ 2.49053510e-02 2.95947334e-03 9.99685433e-01 1.17707089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542557844 meters Centerline goodness : 0.344929 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.36, Z:1.18 [[ 9.99658641e-01 -7.26222093e-04 -2.61165629e-02 -5.73503720e+00] [ 6.87091665e-04 9.99998628e-01 -1.50724188e-03 -3.64206442e-01] [ 2.61176216e-02 1.48878289e-03 9.99657768e-01 1.17583542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602557844 meters Centerline goodness : 0.344741 with order 1 Centerline is valid? [False, False] Translation: X:-5.73, Y:-0.37, Z:1.18 [[ 9.99651944e-01 -5.38946302e-04 -2.63761256e-02 -5.73443836e+00] [ 5.16035441e-04 9.99999484e-01 -8.75420180e-04 -3.67399286e-01] [ 2.63765837e-02 8.61504470e-04 9.99651706e-01 1.17600490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662557844 meters Centerline goodness : 0.312470 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.37, Z:1.18 [[ 9.99667280e-01 -7.67587717e-04 -2.57825399e-02 -5.73693442e+00] [ 7.45395869e-04 9.99999343e-01 -8.70331310e-04 -3.68294049e-01] [ 2.57831910e-02 8.50823535e-04 9.99667196e-01 1.17763614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722557844 meters Centerline goodness : 0.126192 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:-0.37, Z:1.18 [[ 9.99683134e-01 -4.10376602e-04 -2.51687034e-02 -5.73923045e+00] [ 4.05257147e-04 9.99999896e-01 -2.08505974e-04 -3.70874208e-01] [ 2.51687863e-02 1.98240108e-04 9.99683196e-01 1.17902894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782557844 meters Centerline goodness : 0.154204 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.38, Z:1.18 [[ 9.99634888e-01 8.45288963e-03 -2.56639614e-02 -5.71988888e+00] [-8.46836544e-03 9.99964021e-01 -4.94391626e-04 -3.78270745e-01] [ 2.56588590e-02 7.11542922e-04 9.99670504e-01 1.18016060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.842557844 meters Centerline goodness : 0.337032 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.38, Z:1.18 [[ 9.99603998e-01 8.91975832e-03 -2.66886517e-02 -5.71681557e+00] [-8.93328803e-03 9.99960022e-01 -3.87756679e-04 -3.78334392e-01] [ 2.66841261e-02 6.26020540e-04 9.99643719e-01 1.17976976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902557844 meters Centerline goodness : 0.341633 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.38, Z:1.18 [[ 9.99632506e-01 6.73121522e-03 -2.62591546e-02 -5.71823787e+00] [-6.80057432e-03 9.99973617e-01 -2.55292012e-03 -3.81112171e-01] [ 2.62412776e-02 2.73055927e-03 9.99651909e-01 1.18000710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962557844 meters Centerline goodness : 0.156423 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.38, Z:1.18 [[ 9.99648342e-01 6.48900853e-03 -2.57115937e-02 -5.72044773e+00] [-6.56658214e-03 9.99974136e-01 -2.93378311e-03 -3.79887937e-01] [ 2.56918914e-02 3.10158871e-03 9.99665097e-01 1.18140785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02255784399998 meters Centerline goodness : 0.325576 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.37, Z:1.18 [[ 9.99650493e-01 -9.33291996e-04 -2.64201012e-02 -5.70252160e+00] [ 8.92904750e-04 9.99998415e-01 -1.54041209e-03 -3.72028358e-01] [ 2.64214970e-02 1.51628307e-03 9.99649741e-01 1.18243445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08255784399998 meters Centerline goodness : 0.305366 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.37, Z:1.18 [[ 9.99656949e-01 -1.20144774e-03 -2.61637471e-02 -5.70355187e+00] [ 1.15096603e-03 9.99997447e-01 -1.94442640e-03 -3.70868693e-01] [ 2.61660165e-02 1.91364577e-03 9.99655780e-01 1.18305348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14255784399998 meters Centerline goodness : 0.343356 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.37, Z:1.18 [[ 9.99646907e-01 -1.30995466e-03 -2.65395229e-02 -5.70250068e+00] [ 1.25752457e-03 9.99997225e-01 -1.99214118e-03 -3.70943981e-01] [ 2.65420589e-02 1.95806366e-03 9.99645780e-01 1.18286443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20255784399998 meters Centerline goodness : 0.203362 with order 3 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.38, Z:1.18 [[ 9.99513411e-01 6.80847812e-03 -3.04398624e-02 -5.71736535e+00] [-6.92055680e-03 9.99969651e-01 -3.57813181e-03 -3.78841830e-01] [ 3.04145769e-02 3.78705153e-03 9.99530196e-01 1.18171058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26255784399999 meters Centerline goodness : 0.150165 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.38, Z:1.18 [[ 9.99511259e-01 6.83811999e-03 -3.05038278e-02 -5.71709051e+00] [-6.94880408e-03 9.99969647e-01 -3.52399958e-03 -3.79027731e-01] [ 3.04788044e-02 3.73424238e-03 9.99528438e-01 1.18152225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322557844 meters Centerline goodness : 0.139261 with order 2 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.38, Z:1.18 [[ 9.99502003e-01 6.92795375e-03 -3.07855345e-02 -5.71640449e+00] [-7.04256376e-03 9.99968663e-01 -3.61598201e-03 -3.78592437e-01] [ 3.07595184e-02 3.83099035e-03 9.99519472e-01 1.18172908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382557844 meters Centerline goodness : 0.296590 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.38, Z:1.18 [[ 9.99519162e-01 7.33512840e-03 -3.01270880e-02 -5.71776617e+00] [-7.45048772e-03 9.99965330e-01 -3.71861840e-03 -3.76687908e-01] [ 3.00987669e-02 3.94129185e-03 9.99539159e-01 1.18147278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442557844 meters Centerline goodness : 0.134947 with order 3 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.37, Z:1.18 [[ 9.99525505e-01 7.20460218e-03 -2.99475843e-02 -5.71826616e+00] [-7.33592264e-03 9.99963943e-01 -4.27745278e-03 -3.74040047e-01] [ 2.99156871e-02 4.49511631e-03 9.99542318e-01 1.18156985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502557844 meters Centerline goodness : 0.341318 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.37, Z:1.18 [[ 9.99535165e-01 6.74409584e-03 -2.97316649e-02 -5.71908258e+00] [-6.90483150e-03 9.99962080e-01 -5.30686004e-03 -3.70070140e-01] [ 2.96947475e-02 5.50968536e-03 9.99543829e-01 1.18203920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562557844 meters Centerline goodness : 0.132102 with order 2 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.37, Z:1.18 [[ 0.99954051 0.00629538 -0.02965029 -5.71936451] [-0.00648935 0.99995814 -0.0064502 -0.36519595] [ 0.02960844 0.00663965 0.99953952 1.1821489 ] [ 0. 0. 0. 1. ]] SLAMing on 133.622557844 meters Centerline goodness : 0.342739 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.36, Z:1.18 [[ 0.99952838 0.00623956 -0.03006798 -5.717899 ] [-0.00646644 0.99995131 -0.00745402 -0.35985348] [ 0.03002001 0.00764494 0.99952006 1.18152255] [ 0. 0. 0. 1. ]] SLAMing on 133.682557844 meters Centerline goodness : 0.343429 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.35, Z:1.18 [[ 9.99536095e-01 5.54471982e-03 -2.99474669e-02 -5.71922990e+00] [-5.81256603e-03 9.99943818e-01 -8.86423018e-03 -3.54851479e-01] [ 2.98966347e-02 9.03418965e-03 9.99512168e-01 1.18318956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742557844 meters Centerline goodness : 0.347528 with order 1 Centerline is valid? [False, False] Translation: X:-5.72, Y:-0.35, Z:1.18 [[ 9.99529304e-01 5.52486919e-03 -3.01769035e-02 -5.71812173e+00] [-5.80433799e-03 9.99941005e-01 -9.18128219e-03 -3.53112190e-01] [ 3.01243979e-02 9.35211754e-03 9.99502405e-01 1.18236995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80255784399998 meters Centerline goodness : 0.344125 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.34, Z:1.18 [[ 9.99629328e-01 -1.53293492e-03 -2.71819355e-02 -5.70087184e+00] [ 1.32782166e-03 9.99970523e-01 -7.56238470e-03 -3.44722478e-01] [ 2.71927269e-02 7.52348877e-03 9.99601897e-01 1.18358153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86255784399998 meters Centerline goodness : 0.351460 with order 1 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.35, Z:1.19 [[ 9.99669870e-01 -1.06291510e-04 -2.56931941e-02 -5.70708446e+00] [-5.18163476e-05 9.99981069e-01 -6.15294226e-03 -3.46105170e-01] [ 2.56933617e-02 6.15224232e-03 9.99650940e-01 1.18653316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92255784399998 meters Centerline goodness : 0.347962 with order 1 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.35, Z:1.19 [[ 9.99667773e-01 -1.64814851e-04 -2.57743404e-02 -5.70651864e+00] [ 2.44687976e-06 9.99980158e-01 -6.29950219e-03 -3.45465254e-01] [ 2.57748673e-02 6.29734626e-03 9.99647938e-01 1.18589732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98255784399998 meters Centerline goodness : 0.344994 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.34, Z:1.18 [[ 9.99649934e-01 -2.52994362e-04 -2.64564775e-02 -5.70389258e+00] [ 8.05404139e-05 9.99978746e-01 -6.51926416e-03 -3.44530728e-01] [ 2.64575645e-02 6.51485117e-03 9.99628708e-01 1.18429026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042557844 meters Centerline goodness : 0.328615 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.34, Z:1.18 [[ 9.99634261e-01 -3.18418823e-04 -2.70415194e-02 -5.70254559e+00] [ 1.40324524e-04 9.99978292e-01 -6.58759984e-03 -3.44602515e-01] [ 2.70430300e-02 6.58139590e-03 9.99612605e-01 1.18453538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102557844 meters Centerline goodness : 0.131955 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.34, Z:1.19 [[ 9.99637744e-01 -3.09150988e-04 -2.69125618e-02 -5.70322130e+00] [ 1.31567293e-04 9.99978211e-01 -6.60006359e-03 -3.44444356e-01] [ 2.69140159e-02 6.59413186e-03 9.99616003e-01 1.18508065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162557844 meters Centerline goodness : 0.355676 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.34, Z:1.19 [[ 9.99649749e-01 -2.97642318e-04 -2.64630072e-02 -5.70465706e+00] [ 1.19428366e-04 9.99977307e-01 -6.73578123e-03 -3.43209078e-01] [ 2.64644116e-02 6.73026158e-03 9.99627100e-01 1.18551492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222557844 meters Centerline goodness : 0.131940 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.34, Z:1.19 [[ 9.99646938e-01 -3.47062666e-04 -2.65683725e-02 -5.70435076e+00] [ 1.68442876e-04 9.99977373e-01 -6.72496624e-03 -3.43436145e-01] [ 2.65701053e-02 6.71811666e-03 9.99624378e-01 1.18541639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282557844 meters Centerline goodness : 0.222594 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.35, Z:1.19 [[ 9.99635054e-01 -3.83826415e-04 -2.70113162e-02 -5.70352279e+00] [ 2.12185505e-04 9.99979772e-01 -6.35698684e-03 -3.45520914e-01] [ 2.70132098e-02 6.34893547e-03 9.99614915e-01 1.18592821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342557844 meters Centerline goodness : 0.184850 with order 2 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.35, Z:1.19 [[ 9.99610741e-01 -6.69366266e-04 -2.78911997e-02 -5.70095883e+00] [ 5.01315788e-04 9.99981683e-01 -6.03177205e-03 -3.48412077e-01] [ 2.78947262e-02 6.01544183e-03 9.99592766e-01 1.18548409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402557844 meters Centerline goodness : 0.318760 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.35, Z:1.19 [[ 9.99630819e-01 -4.88166751e-04 -2.71659111e-02 -5.70341763e+00] [ 3.39681609e-04 9.99984981e-01 -5.47020911e-03 -3.51054558e-01] [ 2.71681734e-02 5.45896185e-03 9.99615971e-01 1.18663196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462557844 meters Centerline goodness : 0.133254 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.35, Z:1.19 [[ 9.99642030e-01 -2.70797195e-04 -2.67532945e-02 -5.70492114e+00] [ 1.37467686e-04 9.99987563e-01 -4.98538040e-03 -3.53295053e-01] [ 2.67543118e-02 4.97991807e-03 9.99629635e-01 1.18740690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52255784399998 meters Centerline goodness : 0.231888 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.35, Z:1.19 [[ 9.99641294e-01 -6.03546934e-05 -2.67820736e-02 -5.70448041e+00] [-6.45052130e-05 9.99989135e-01 -4.66118173e-03 -3.54632277e-01] [ 2.67820639e-02 4.66123732e-03 9.99630429e-01 1.18681203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58255784399998 meters Centerline goodness : 0.221940 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.35, Z:1.19 [[ 9.99638860e-01 -6.23818835e-07 -2.68728486e-02 -5.70416083e+00] [-1.28860687e-04 9.99988391e-01 -4.81668185e-03 -3.53704330e-01] [ 2.68725396e-02 4.81840521e-03 9.99627255e-01 1.18665930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64255784399998 meters Centerline goodness : 0.346763 with order 1 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.35, Z:1.19 [[ 9.99649648e-01 7.79226656e-05 -2.64683856e-02 -5.70518834e+00] [-2.12795217e-04 9.99987009e-01 -5.09283084e-03 -3.52061403e-01] [ 2.64676449e-02 5.09667890e-03 9.99636678e-01 1.18662957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70255784399998 meters Centerline goodness : 0.131181 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.35, Z:1.19 [[ 9.99656338e-01 3.68019635e-05 -2.62146020e-02 -5.70500928e+00] [-1.88550849e-04 9.99983242e-01 -5.78626768e-03 -3.47664745e-01] [ 2.62139497e-02 5.78922194e-03 9.99639592e-01 1.18516982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76255784399999 meters Centerline goodness : 0.144722 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.34, Z:1.18 [[ 9.99640239e-01 -5.53893896e-04 -2.68157900e-02 -5.70275358e+00] [ 3.62417911e-04 9.99974410e-01 -7.14475299e-03 -3.41619388e-01] [ 2.68190612e-02 7.13246406e-03 9.99614859e-01 1.18382739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822557844 meters Centerline goodness : 0.080556 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.34, Z:1.18 [[ 9.99643062e-01 -8.20765988e-04 -2.67034645e-02 -5.70327187e+00] [ 6.15589122e-04 9.99970236e-01 -7.69084340e-03 -3.39080982e-01] [ 2.67089820e-02 7.67165988e-03 9.99613813e-01 1.18410340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882557844 meters Centerline goodness : 0.130075 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.34, Z:1.18 [[ 9.99636885e-01 -1.20158743e-03 -2.69194004e-02 -5.70239344e+00] [ 9.80001554e-04 9.99965545e-01 -8.24313785e-03 -3.36869188e-01] [ 2.69283777e-02 8.21376359e-03 9.99603620e-01 1.18344495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942557844 meters Centerline goodness : 0.136508 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.33, Z:1.18 [[ 9.99644638e-01 -1.47384280e-03 -2.66162811e-02 -5.70325435e+00] [ 1.24159500e-03 9.99961033e-01 -8.74019890e-03 -3.34367313e-01] [ 2.66281256e-02 8.70404632e-03 9.99607514e-01 1.18347504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002557844 meters Centerline goodness : 0.143642 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.33, Z:1.18 [[ 9.99648502e-01 -1.98798121e-03 -2.64370893e-02 -5.70411985e+00] [ 1.73404345e-03 9.99952177e-01 -9.62481904e-03 -3.30251336e-01] [ 2.64549590e-02 9.57559287e-03 9.99604143e-01 1.18402051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062557844 meters Centerline goodness : 0.084760 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.33, Z:1.18 [[ 9.99650243e-01 -2.34563318e-03 -2.63418014e-02 -5.70458492e+00] [ 2.08369561e-03 9.99948159e-01 -9.96684911e-03 -3.29177252e-01] [ 2.63638143e-02 9.90847483e-03 9.99603307e-01 1.18432437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122557844 meters Centerline goodness : 0.155902 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.33, Z:1.18 [[ 9.99702693e-01 -4.81158074e-03 -2.39034249e-02 -5.67293557e+00] [ 4.60990373e-03 9.99953375e-01 -8.48511155e-03 -3.33363997e-01] [ 2.39431372e-02 8.37239638e-03 9.99678263e-01 1.18455898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182557844 meters Centerline goodness : 0.353362 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.35, Z:1.18 [[ 9.99801050e-01 -1.03134206e-03 -1.99197592e-02 -5.69653986e+00] [ 8.17712599e-04 9.99942101e-01 -1.07296692e-02 -3.47355409e-01] [ 1.99296718e-02 1.07112459e-02 9.99744006e-01 1.18371285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242557844 meters Centerline goodness : 0.198224 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.35, Z:1.18 [[ 9.99772542e-01 5.08556299e-04 -2.13214760e-02 -5.65012786e+00] [-7.35234875e-04 9.99943283e-01 -1.06249766e-02 -3.48797066e-01] [ 2.13148633e-02 1.06382362e-02 9.99716212e-01 1.18342883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30255784399998 meters Centerline goodness : 0.136148 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.35, Z:1.18 [[ 9.99782677e-01 7.82364555e-04 -2.08323674e-02 -5.65154684e+00] [-1.00185522e-03 9.99944080e-01 -1.05276893e-02 -3.48591261e-01] [ 2.08229660e-02 1.05462724e-02 9.99727553e-01 1.18386851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36255784399998 meters SLAMing on 135.42255784399998 meters SLAMing on 135.48255784399998 meters Centerline goodness : 0.185199 with order 2 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.35, Z:1.19 [[ 0.99971057 0.01032583 -0.02172932 -5.59003054] [-0.01057092 0.99988146 -0.01119485 -0.34887737] [ 0.02161115 0.01142131 0.99970121 1.18622828] [ 0. 0. 0. 1. ]] SLAMing on 135.542557844 meters SLAMing on 135.602557844 meters SLAMing on 135.662557844 meters Centerline goodness : 0.150730 with order 3 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.35, Z:1.19 [[ 0.99974379 0.013711 -0.01801023 -5.55094333] [-0.01388707 0.99985664 -0.00968769 -0.34611746] [ 0.01787482 0.00993532 0.99979087 1.1883638 ] [ 0. 0. 0. 1. ]] SLAMing on 135.722557844 meters Centerline goodness : 0.087625 with order 1 Centerline is valid? [False, False] Translation: X:-5.54, Y:-0.34, Z:1.19 [[ 0.99967833 0.0156303 -0.01997313 -5.54328285] [-0.01580687 0.9998371 -0.00871309 -0.3403603 ] [ 0.01983369 0.009026 0.99976255 1.18568265] [ 0. 0. 0. 1. ]] SLAMing on 135.782557844 meters Centerline goodness : 0.131281 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.33, Z:1.18 [[ 0.99976485 0.00715286 -0.02047165 -5.56030035] [-0.00731325 0.99994307 -0.00777044 -0.3315429 ] [ 0.0204149 0.00791833 0.99976024 1.18348019] [ 0. 0. 0. 1. ]] SLAMing on 135.842557844 meters Centerline goodness : 0.153254 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.33, Z:1.18 [[ 0.99975788 0.0071069 -0.02082496 -5.55915301] [-0.0072743 0.99994175 -0.00797356 -0.33053983] [ 0.02076708 0.00812312 0.99975134 1.18306071] [ 0. 0. 0. 1. ]] SLAMing on 135.902557844 meters SLAMing on 135.962557844 meters Centerline goodness : 0.134489 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.33, Z:1.18 [[ 0.99976667 0.00677793 -0.02051022 -5.56016579] [-0.00695562 0.99993879 -0.00860479 -0.32812238] [ 0.02045064 0.00874545 0.99975261 1.1833917 ] [ 0. 0. 0. 1. ]] SLAMing on 136.02255784399998 meters SLAMing on 136.08255784399998 meters Centerline goodness : 0.353565 with order 1 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.32, Z:1.18 [[ 9.99737481e-01 1.09123970e-02 -2.01466749e-02 -5.56134610e+00] [-1.10222066e-02 9.99924955e-01 -5.34753332e-03 -3.23701396e-01] [ 2.00868085e-02 5.56819030e-03 9.99782734e-01 1.18428550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14255784399998 meters Centerline goodness : 0.218358 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.32, Z:1.18 [[ 0.99971262 0.01145134 -0.02106049 -5.55870037] [-0.01157328 0.99991691 -0.00567701 -0.32124811] [ 0.02099373 0.00591912 0.99976209 1.18407374] [ 0. 0. 0. 1. ]] SLAMing on 136.20255784399998 meters Centerline goodness : 0.212825 with order 2 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.32, Z:1.18 [[ 9.99658601e-01 1.51849609e-02 -2.12625959e-02 -5.55820254e+00] [-1.52446402e-02 9.99880289e-01 -2.64749594e-03 -3.17299226e-01] [ 2.12198484e-02 2.97073272e-03 9.99770420e-01 1.18456773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26255784399999 meters Centerline goodness : 0.147505 with order 1 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.31, Z:1.18 [[ 9.99675002e-01 1.53517127e-02 -2.03522929e-02 -5.56055311e+00] [-1.54169296e-02 9.99876496e-01 -3.05137629e-03 -3.14060434e-01] [ 2.03029355e-02 3.36415447e-03 9.99788214e-01 1.18453351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322557844 meters Centerline goodness : 0.180451 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.31, Z:1.18 [[ 9.99683974e-01 1.50644336e-02 -2.01249671e-02 -5.56139565e+00] [-1.51436174e-02 9.99878153e-01 -3.78801145e-03 -3.10597755e-01] [ 2.00654507e-02 4.09157914e-03 9.99790296e-01 1.18482270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382557844 meters Centerline goodness : 0.137947 with order 3 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.30, Z:1.18 [[ 9.99825959e-01 5.78204854e-03 -1.77375022e-02 -5.58587117e+00] [-5.84945255e-03 9.99975858e-01 -3.75055941e-03 -3.03482104e-01] [ 1.77153880e-02 3.85366134e-03 9.99835644e-01 1.18471305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442557844 meters Centerline goodness : 0.206953 with order 3 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.30, Z:1.18 [[ 9.99814658e-01 5.36713486e-03 -1.84890131e-02 -5.58351458e+00] [-5.44514797e-03 9.99976473e-01 -4.17167566e-03 -3.02660717e-01] [ 1.84661882e-02 4.27157788e-03 9.99820361e-01 1.18391400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502557844 meters Centerline goodness : 0.125252 with order 3 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.30, Z:1.18 [[ 9.99771283e-01 8.16492086e-03 -1.97665388e-02 -5.57810273e+00] [-8.20782795e-03 9.99964130e-01 -2.09053794e-03 -2.96506295e-01] [ 1.97487607e-02 2.25230015e-03 9.99802437e-01 1.18118093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562557844 meters Centerline goodness : 0.392131 with order 2 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.29, Z:1.18 [[ 9.99794615e-01 -5.74852691e-04 -2.02582757e-02 -5.59915846e+00] [ 5.37503343e-04 9.99998146e-01 -1.84905560e-03 -2.87186085e-01] [ 2.02593011e-02 1.83778694e-03 9.99793070e-01 1.17998373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622557844 meters Centerline goodness : 0.127820 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.28, Z:1.18 [[ 9.99805906e-01 -8.15553944e-04 -1.96846509e-02 -5.60065726e+00] [ 7.61606122e-04 9.99995934e-01 -2.74794453e-03 -2.81686101e-01] [ 1.96868120e-02 2.73241922e-03 9.99802462e-01 1.17977647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682557844 meters Centerline goodness : 0.138760 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.28, Z:1.18 [[ 9.99807989e-01 -1.10851920e-03 -1.95641518e-02 -5.60114262e+00] [ 1.04907981e-03 9.99994804e-01 -3.04818041e-03 -2.80724808e-01] [ 1.95674291e-02 3.02707077e-03 9.99803957e-01 1.18009707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742557844 meters Centerline goodness : 0.137010 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.28, Z:1.18 [[ 9.99806185e-01 -1.67553629e-03 -1.96159487e-02 -5.60085990e+00] [ 1.60907080e-03 9.99992913e-01 -3.40363235e-03 -2.79836560e-01] [ 1.96215126e-02 3.37140922e-03 9.99801795e-01 1.17984302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80255784399998 meters Centerline goodness : 0.125219 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.28, Z:1.18 [[ 9.99790577e-01 -2.06600732e-03 -2.03601236e-02 -5.59885404e+00] [ 1.99173222e-03 9.99991291e-01 -3.66767030e-03 -2.79513197e-01] [ 2.03675237e-02 3.62635029e-03 9.99785984e-01 1.17960513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86255784399998 meters Centerline goodness : 0.139285 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.28, Z:1.18 [[ 9.99786758e-01 -2.34671305e-03 -2.05166164e-02 -5.59876438e+00] [ 2.26771770e-03 9.99989930e-01 -3.87272868e-03 -2.79319399e-01] [ 2.05254979e-02 3.82537696e-03 9.99782011e-01 1.18013475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92255784399998 meters Centerline goodness : 0.124249 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99787867e-01 -2.64153908e-03 -2.04265369e-02 -5.59838987e+00] [ 2.54556691e-03 9.99985607e-01 -4.72298123e-03 -2.74794180e-01] [ 2.04387188e-02 4.66998221e-03 9.99780201e-01 1.17904864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98255784399998 meters Centerline goodness : 0.140641 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99789489e-01 -2.95868470e-03 -2.03032936e-02 -5.59871166e+00] [ 2.84708021e-03 9.99980692e-01 -5.52357215e-03 -2.71095420e-01] [ 2.03192441e-02 5.46460428e-03 9.99778609e-01 1.17896918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042557844 meters Centerline goodness : 0.137077 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.27, Z:1.18 [[ 9.99824693e-01 -1.36390522e-03 -1.86741024e-02 -5.60650531e+00] [ 1.28689808e-03 9.99990622e-01 -4.13513607e-03 -2.67825369e-01] [ 1.86795672e-02 4.11037949e-03 9.99817073e-01 1.18314617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102557844 meters Centerline goodness : 0.138581 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.27, Z:1.18 [[ 9.99768852e-01 -3.68663777e-03 -2.11813890e-02 -5.65228630e+00] [ 3.58022254e-03 9.99980790e-01 -5.05972384e-03 -2.68478702e-01] [ 2.11996355e-02 4.98272021e-03 9.99762846e-01 1.18373876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162557844 meters Centerline goodness : 0.141980 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.27, Z:1.18 [[ 9.99753491e-01 -4.09975055e-03 -2.18208268e-02 -5.65038843e+00] [ 3.98341765e-03 9.99977636e-01 -5.37207696e-03 -2.68088224e-01] [ 2.18423629e-02 5.28383123e-03 9.99747464e-01 1.18321458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222557844 meters Centerline goodness : 0.145439 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.18 [[ 9.99826385e-01 2.53042692e-03 -1.84607059e-02 -5.67206423e+00] [-2.63544892e-03 9.99980470e-01 -5.66683998e-03 -2.71817407e-01] [ 1.84460058e-02 5.71450838e-03 9.99813527e-01 1.18248154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282557844 meters Centerline goodness : 0.131038 with order 2 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.18 [[ 9.99822609e-01 2.25565672e-03 -1.86992876e-02 -5.67076908e+00] [-2.37270865e-03 9.99977717e-01 -6.23987933e-03 -2.69767074e-01] [ 1.86847959e-02 6.28314040e-03 9.99805681e-01 1.18125881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342557844 meters Centerline goodness : 0.133756 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.27, Z:1.18 [[ 9.99821263e-01 2.28209591e-03 -1.87678783e-02 -5.67031126e+00] [-2.40436787e-03 9.99976017e-01 -6.49497737e-03 -2.68031477e-01] [ 1.87526061e-02 6.53894137e-03 9.99802772e-01 1.18064333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402557844 meters Centerline goodness : 0.143659 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.26, Z:1.18 [[ 9.99812507e-01 -2.90109742e-03 -1.91451127e-02 -5.64784743e+00] [ 2.83554496e-03 9.99990028e-01 -3.45023702e-03 -2.64672959e-01] [ 1.91549313e-02 3.39530330e-03 9.99810762e-01 1.18113004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462557844 meters Centerline goodness : 0.141897 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.27, Z:1.18 [[ 9.99801744e-01 -3.04766123e-03 -1.96770098e-02 -5.64571917e+00] [ 2.98009317e-03 9.99989566e-01 -3.46226786e-03 -2.66173757e-01] [ 1.96873563e-02 3.40294212e-03 9.99800394e-01 1.17994072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52255784399998 meters Centerline goodness : 0.141202 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.27, Z:1.18 [[ 9.99809962e-01 -2.87734780e-03 -1.92811044e-02 -5.64678725e+00] [ 2.81725016e-03 9.99991091e-01 -3.14335654e-03 -2.67373281e-01] [ 1.92899772e-02 3.08843949e-03 9.99809161e-01 1.17997628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58255784399998 meters Centerline goodness : 0.142427 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.27, Z:1.18 [[ 9.99818043e-01 -2.73944563e-03 -1.88779560e-02 -5.64774728e+00] [ 2.68669773e-03 9.99992418e-01 -2.81894879e-03 -2.68689193e-01] [ 1.88855352e-02 2.76771650e-03 9.99817822e-01 1.17982971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64255784399998 meters Centerline goodness : 0.142885 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.27, Z:1.18 [[ 9.99776034e-01 -3.47494214e-03 -2.08759952e-02 -5.64174420e+00] [ 3.40936044e-03 9.99989144e-01 -3.17625846e-03 -2.70043821e-01] [ 2.08868059e-02 3.10437329e-03 9.99777027e-01 1.17838213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70255784399998 meters Centerline goodness : 0.151296 with order 3 Centerline is valid? [False, False] Translation: X:-5.66, Y:-0.28, Z:1.18 [[ 9.99744229e-01 4.32145401e-03 -2.21991283e-02 -5.66069806e+00] [-4.41021628e-03 9.99982469e-01 -3.95105701e-03 -2.77563047e-01] [ 2.21816648e-02 4.04794940e-03 9.99745762e-01 1.17666667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76255784399999 meters Centerline goodness : 0.145637 with order 3 Centerline is valid? [False, False] Translation: X:-5.66, Y:-0.28, Z:1.18 [[ 9.99757552e-01 4.51766191e-03 -2.15506026e-02 -5.66287941e+00] [-4.59147542e-03 9.99983757e-01 -3.37687555e-03 -2.80205781e-01] [ 2.15349970e-02 3.47500589e-03 9.99762056e-01 1.17766723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822557844 meters Centerline goodness : 0.163384 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.28, Z:1.18 [[ 9.99782267e-01 -3.42028791e-03 -2.05844564e-02 -5.64234672e+00] [ 3.37964611e-03 9.99992271e-01 -2.00885673e-03 -2.77277297e-01] [ 2.05911682e-02 1.93885116e-03 9.99786099e-01 1.17814588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882557844 meters Centerline goodness : 0.131475 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.28, Z:1.18 [[ 9.99783060e-01 -3.44388650e-03 -2.05419529e-02 -5.64250858e+00] [ 3.42431878e-03 9.99993649e-01 -9.87672393e-04 -2.84118484e-01] [ 2.05452238e-02 9.17115933e-04 9.99788504e-01 1.17847993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942557844 meters Centerline goodness : 0.134446 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.29, Z:1.18 [[ 9.99829580e-01 1.68765058e-03 -1.83837429e-02 -5.66524877e+00] [-1.75267890e-03 9.99992263e-01 -3.52173606e-03 -2.91048975e-01] [ 1.83776572e-02 3.55335668e-03 9.99824802e-01 1.17705647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002557844 meters Centerline goodness : 0.131660 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.29, Z:1.18 [[ 9.99835489e-01 -7.61046530e-03 -1.64643554e-02 -5.64423557e+00] [ 7.55312945e-03 9.99965202e-01 -3.54180866e-03 -2.90050036e-01] [ 1.64907373e-02 3.41686859e-03 9.99858180e-01 1.17738453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062557844 meters Centerline goodness : 0.121638 with order 2 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.29, Z:1.18 [[ 9.99833958e-01 -7.33210046e-03 -1.66822484e-02 -5.64324926e+00] [ 7.28817472e-03 9.99969816e-01 -2.69235720e-03 -2.93970466e-01] [ 1.67014855e-02 2.57032701e-03 9.99857217e-01 1.17660826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122557844 meters Centerline goodness : 0.204493 with order 3 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.30, Z:1.18 [[ 9.99877102e-01 -1.57515655e-04 -1.56766040e-02 -5.62532217e+00] [ 8.07147327e-05 9.99987994e-01 -4.89959117e-03 -3.01582143e-01] [ 1.56771876e-02 4.89772369e-03 9.99865110e-01 1.17894385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182557844 meters Centerline goodness : 0.128461 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.31, Z:1.18 [[ 9.99853178e-01 -3.10689382e-03 -1.68514198e-02 -5.62117194e+00] [ 2.99089980e-03 9.99971693e-01 -6.90417800e-03 -3.08509560e-01] [ 1.68723933e-02 6.85276340e-03 9.99834167e-01 1.17683096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242557844 meters Centerline goodness : 0.133180 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.31, Z:1.18 [[ 0.99983393 -0.00638142 -0.01707041 -5.62012133] [ 0.00622571 0.99993867 -0.00915937 -0.31416725] [ 0.01712781 0.00905158 0.99981234 1.17561882] [ 0. 0. 0. 1. ]] SLAMing on 138.30255784399998 meters Centerline goodness : 0.128916 with order 2 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.33, Z:1.18 [[ 9.99858742e-01 1.24001691e-04 -1.68071717e-02 -5.60868328e+00] [-2.88710082e-04 9.99951959e-01 -9.79781540e-03 -3.27863164e-01] [ 1.68051493e-02 9.80128378e-03 9.99810743e-01 1.17943358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36255784399998 meters Centerline goodness : 0.127925 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.33, Z:1.18 [[ 9.99845678e-01 5.32830761e-04 -1.75594870e-02 -5.60636678e+00] [-6.97839058e-04 9.99955648e-01 -9.39231529e-03 -3.29227604e-01] [ 1.75537037e-02 9.40311955e-03 9.99801705e-01 1.17868773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42255784399998 meters Centerline goodness : 0.345916 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.33, Z:1.18 [[ 9.99820074e-01 3.44542595e-03 -1.86533813e-02 -5.60102917e+00] [-3.56997992e-03 9.99971529e-01 -6.64810982e-03 -3.29155427e-01] [ 1.86299447e-02 6.71350585e-03 9.99803908e-01 1.17578506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48255784399998 meters Centerline goodness : 0.339101 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.33, Z:1.18 [[ 9.99799240e-01 7.60351016e-03 -1.85382287e-02 -5.60156784e+00] [-7.65373298e-03 9.99967226e-01 -2.63970469e-03 -3.29534452e-01] [ 1.85175501e-02 2.78106140e-03 9.99824668e-01 1.17634428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542557844 meters Centerline goodness : 0.346400 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.33, Z:1.18 [[ 9.99800068e-01 7.73835735e-03 -1.84375146e-02 -5.60191227e+00] [-7.79457618e-03 9.99965184e-01 -2.97924470e-03 -3.27834501e-01] [ 1.84138182e-02 3.12236166e-03 9.99825576e-01 1.17678830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602557844 meters Centerline goodness : 0.233876 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.33, Z:1.18 [[ 9.99767914e-01 1.15611988e-02 -1.81784765e-02 -5.60322469e+00] [-1.15530749e-02 9.99933109e-01 5.51850599e-04 -3.26064378e-01] [ 1.81836406e-02 -3.41705220e-04 9.99834606e-01 1.17806331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662557844 meters Centerline goodness : 0.342012 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.32, Z:1.18 [[ 9.99833255e-01 3.91735181e-03 -1.78358177e-02 -5.58399762e+00] [-3.89528834e-03 9.99991605e-01 1.27160424e-03 -3.16139129e-01] [ 1.78406493e-02 -1.20191655e-03 9.99840121e-01 1.17852733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722557844 meters Centerline goodness : 0.343799 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.31, Z:1.18 [[ 9.99826423e-01 3.70893497e-03 -1.82583782e-02 -5.58274078e+00] [-3.69472857e-03 9.99992845e-01 8.11746897e-04 -3.14043360e-01] [ 1.82612583e-02 -7.44146244e-04 9.99832972e-01 1.17811299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782557844 meters Centerline goodness : 0.149088 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.31, Z:1.18 [[ 9.99836762e-01 3.64299518e-03 -1.76968358e-02 -5.58479204e+00] [-3.62677168e-03 9.99992973e-01 9.48753272e-04 -3.14620686e-01] [ 1.77001678e-02 -8.84416016e-04 9.99842949e-01 1.17927787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842557844 meters Centerline goodness : 0.147357 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.31, Z:1.18 [[ 9.99846767e-01 -5.05529275e-04 -1.74982100e-02 -5.58507522e+00] [ 4.51400322e-04 9.99995102e-01 -3.09721088e-03 -3.14412225e-01] [ 1.74996900e-02 3.08883759e-03 9.99842097e-01 1.17891796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902557844 meters Centerline goodness : 0.342531 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.32, Z:1.18 [[ 9.99838179e-01 -5.40890858e-04 -1.79812073e-02 -5.58349732e+00] [ 4.87382315e-04 9.99995441e-01 -2.98005276e-03 -3.15246961e-01] [ 1.79827372e-02 2.97080680e-03 9.99833884e-01 1.17829087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962557844 meters SLAMing on 139.02255784399998 meters Centerline goodness : 0.125896 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.32, Z:1.18 [[ 9.99754529e-01 8.05113210e-03 -2.06412557e-02 -5.60333102e+00] [-8.13058010e-03 9.99959847e-01 -3.76796116e-03 -3.17004953e-01] [ 2.06100906e-02 3.93486162e-03 9.99779846e-01 1.17837207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08255784399998 meters Centerline goodness : 0.142882 with order 2 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.31, Z:1.18 [[ 9.99735327e-01 8.06773949e-03 -2.15449976e-02 -5.60054402e+00] [-8.16690767e-03 9.99956440e-01 -4.51882424e-03 -3.13667723e-01] [ 2.15076024e-02 4.69358423e-03 9.99757667e-01 1.17783763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14255784399998 meters Centerline goodness : 0.337146 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.31, Z:1.18 [[ 9.99695452e-01 1.17522196e-02 -2.16999729e-02 -5.60014481e+00] [-1.17894055e-02 9.99929244e-01 -1.58649869e-03 -3.09056158e-01] [ 2.16797926e-02 1.84184531e-03 9.99763269e-01 1.17808382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20255784399998 meters Centerline goodness : 0.144772 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.30, Z:1.18 [[ 9.99747807e-01 5.16890313e-03 -2.18541557e-02 -5.58254840e+00] [-5.17347803e-03 9.99986606e-01 -1.52804930e-04 -2.99078928e-01] [ 2.18530732e-02 2.65828389e-04 9.99761158e-01 1.17949817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26255784399999 meters Centerline goodness : 0.339233 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.30, Z:1.18 [[ 9.99751692e-01 5.08508683e-03 -2.16955121e-02 -5.58307293e+00] [-5.09589072e-03 9.99986918e-01 -4.42720908e-04 -2.97648129e-01] [ 2.16929770e-02 5.53168936e-04 9.99764527e-01 1.17967518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322557844 meters Centerline goodness : 0.149741 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.30, Z:1.18 [[ 9.99758607e-01 5.10900203e-03 -2.13688253e-02 -5.58432283e+00] [-5.11707832e-03 9.99986855e-01 -3.23284991e-04 -2.98169022e-01] [ 2.13668927e-02 4.32552905e-04 9.99771608e-01 1.18039628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382557844 meters Centerline goodness : 0.196264 with order 3 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.29, Z:1.18 [[ 9.99811849e-01 -3.36813597e-03 -1.91029382e-02 -5.56586142e+00] [ 3.38185390e-03 9.99994046e-01 6.85846464e-04 -2.94752402e-01] [ 1.91005145e-02 -7.50320767e-04 9.99817287e-01 1.18134090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442557844 meters Centerline goodness : 0.143330 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.30, Z:1.18 [[ 9.99754274e-01 -6.39193544e-03 -2.12257871e-02 -5.61200381e+00] [ 6.40843806e-03 9.99979214e-01 7.09550381e-04 -3.04171131e-01] [ 2.12208105e-02 -8.45400169e-04 9.99774456e-01 1.18330608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502557844 meters Centerline goodness : 0.344218 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.31, Z:1.18 [[ 9.99731582e-01 -6.52943946e-03 -2.22290346e-02 -5.60885617e+00] [ 6.55502873e-03 9.99977934e-01 1.07849315e-03 -3.07337627e-01] [ 2.22215021e-02 -1.22391562e-03 9.99752323e-01 1.18245215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562557844 meters Centerline goodness : 0.125404 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.31, Z:1.18 [[ 9.99738584e-01 -6.35786122e-03 -2.19622784e-02 -5.61030439e+00] [ 6.39209511e-03 9.99978462e-01 1.48890901e-03 -3.09089898e-01] [ 2.19523391e-02 -1.62890476e-03 9.99757691e-01 1.18375601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622557844 meters Centerline goodness : 0.339186 with order 1 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.32, Z:1.18 [[ 9.99782996e-01 -1.28905713e-03 -2.07917877e-02 -5.63047179e+00] [ 1.28251384e-03 9.99999124e-01 -3.28037007e-04 -3.20356262e-01] [ 2.07921923e-02 3.01300066e-04 9.99783774e-01 1.18248208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682557844 meters Centerline goodness : 0.343337 with order 1 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.33, Z:1.18 [[ 9.99755905e-01 -4.29596154e-03 -2.16719950e-02 -5.62695853e+00] [ 4.24099576e-03 9.99987675e-01 -2.58158186e-03 -3.26289713e-01] [ 2.16828183e-02 2.48904087e-03 9.99761802e-01 1.18067999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74255784399998 meters Centerline goodness : 0.357020 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.33, Z:1.18 [[ 9.99820090e-01 -3.96783418e-03 -1.85483990e-02 -5.58643584e+00] [ 3.90253540e-03 9.99986065e-01 -3.55532524e-03 -3.29687779e-01] [ 1.85622474e-02 3.48229981e-03 9.99821642e-01 1.18202913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80255784399998 meters Centerline goodness : 0.145378 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.34, Z:1.18 [[ 9.99817159e-01 4.67980419e-03 -1.85404549e-02 -5.60917145e+00] [-4.73841969e-03 9.99983910e-01 -3.11882400e-03 -3.37936575e-01] [ 1.85255611e-02 3.20610621e-03 9.99823247e-01 1.18204967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86255784399998 meters Centerline goodness : 0.354350 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.34, Z:1.18 [[ 9.99759198e-01 6.13632234e-03 -2.10687491e-02 -5.60103758e+00] [-6.18508911e-03 9.99978340e-01 -2.25026633e-03 -3.39449409e-01] [ 2.10544844e-02 2.38003655e-03 9.99775497e-01 1.17996076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92255784399998 meters Centerline goodness : 0.366917 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.34, Z:1.18 [[ 9.99737936e-01 6.58300485e-03 -2.19253830e-02 -5.59847846e+00] [-6.62656092e-03 9.99976211e-01 -1.91449736e-03 -3.40587792e-01] [ 2.19122583e-02 2.05928553e-03 9.99757777e-01 1.17967663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98255784399998 meters Centerline goodness : 0.343220 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.34, Z:1.18 [[ 9.99783570e-01 -3.19050837e-03 -2.05580739e-02 -5.58327093e+00] [ 3.14873582e-03 9.99992913e-01 -2.06397839e-03 -3.35144487e-01] [ 2.05645133e-02 1.99879974e-03 9.99786530e-01 1.18218617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042557844 meters Centerline goodness : 0.143322 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.35, Z:1.18 [[ 9.99842370e-01 2.27938225e-03 -1.76079185e-02 -5.60371959e+00] [-2.34607246e-03 9.99990150e-01 -3.76778508e-03 -3.45585560e-01] [ 1.75991568e-02 3.80850062e-03 9.99837869e-01 1.18086738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102557844 meters Centerline goodness : 0.142040 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.34, Z:1.18 [[ 9.99865417e-01 -4.81336950e-03 -1.56837175e-02 -5.58740763e+00] [ 4.79412268e-03 9.99987709e-01 -1.26455127e-03 -3.39096026e-01] [ 1.56896115e-02 1.18919142e-03 9.99876203e-01 1.18210413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162557844 meters Centerline goodness : 0.133846 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.34, Z:1.18 [[ 9.99867609e-01 -4.77885354e-03 -1.55539741e-02 -5.58802264e+00] [ 4.76044651e-03 9.99987925e-01 -1.22023832e-03 -3.39210176e-01] [ 1.55596176e-02 1.14603291e-03 9.99878285e-01 1.18262146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222557844 meters Centerline goodness : 0.182141 with order 3 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.34, Z:1.18 [[ 9.99859287e-01 -4.82717800e-03 -1.60656084e-02 -5.58671764e+00] [ 4.81354076e-03 9.99988021e-01 -8.87407493e-04 -3.41714347e-01] [ 1.60696996e-02 8.09950162e-04 9.99870546e-01 1.18263783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282557844 meters Centerline goodness : 0.130648 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.35, Z:1.18 [[ 9.99869765e-01 2.94106887e-03 -1.58683147e-02 -5.60714703e+00] [-2.95862703e-03 9.99995037e-01 -1.08312936e-03 -3.48878892e-01] [ 1.58650504e-02 1.12993673e-03 9.99873504e-01 1.18172317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342557844 meters Centerline goodness : 0.342528 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.35, Z:1.18 [[ 9.99844919e-01 -3.67109254e-03 -1.72238647e-02 -5.58880624e+00] [ 3.66706178e-03 9.99993241e-01 -2.65598913e-04 -3.45666123e-01] [ 1.72247233e-02 2.02396747e-04 9.99851623e-01 1.18371570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402557844 meters Centerline goodness : 0.141612 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.34, Z:1.18 [[ 9.99842200e-01 -3.70429891e-03 -1.73739354e-02 -5.58796085e+00] [ 3.69642127e-03 9.99993050e-01 -4.85508552e-04 -3.44502287e-01] [ 1.73756131e-02 4.21210555e-04 9.99848944e-01 1.18282534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462557844 meters Centerline goodness : 0.123218 with order 3 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.34, Z:1.18 [[ 9.99842657e-01 -3.79398565e-03 -1.73282133e-02 -5.58825086e+00] [ 3.78390077e-03 9.99992652e-01 -6.14742016e-04 -3.44101856e-01] [ 1.73304183e-02 5.49077051e-04 9.99849666e-01 1.18310553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52255784399998 meters Centerline goodness : 0.222421 with order 3 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.34, Z:1.18 [[ 9.99852997e-01 -4.12594068e-03 -1.66421261e-02 -5.59058623e+00] [ 4.11591768e-03 9.99991327e-01 -6.36473107e-04 -3.44463728e-01] [ 1.66446078e-02 5.67881922e-04 9.99861308e-01 1.18377585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58255784399998 meters Centerline goodness : 0.124057 with order 3 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.35, Z:1.18 [[ 9.99852018e-01 -4.01573432e-03 -1.67277099e-02 -5.59036171e+00] [ 4.01278202e-03 9.99991927e-01 -2.10052447e-04 -3.46421376e-01] [ 1.67284183e-02 1.42896709e-04 9.99860060e-01 1.18371510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64255784399998 meters Centerline goodness : 0.147966 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.35, Z:1.18 [[ 9.99842192e-01 -4.19862328e-03 -1.72616154e-02 -5.58912342e+00] [ 4.19951647e-03 9.99991182e-01 1.54964956e-05 -3.48035245e-01] [ 1.72613982e-02 -8.79844884e-05 9.99851007e-01 1.18349215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70255784399998 meters Centerline goodness : 0.121699 with order 3 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.35, Z:1.19 [[ 9.99872795e-01 5.00239874e-03 -1.51449570e-02 -5.57254629e+00] [-5.00408914e-03 9.99987477e-01 -7.37208772e-05 -3.54703643e-01] [ 1.51443986e-02 1.49498214e-04 9.99885306e-01 1.18539749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76255784399999 meters Centerline goodness : 0.148671 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.36, Z:1.19 [[ 9.99863858e-01 5.09676714e-03 -1.56935557e-02 -5.57099415e+00] [-5.08853011e-03 9.99986894e-01 5.64753334e-04 -3.58399419e-01] [ 1.56962284e-02 -4.84819317e-04 9.99876689e-01 1.18517424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822557844 meters Centerline goodness : 0.343264 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.36, Z:1.19 [[ 9.99872867e-01 -3.21921330e-03 -1.56168856e-02 -5.54848734e+00] [ 3.23907230e-03 9.99993977e-01 1.24650939e-03 -3.61368652e-01] [ 1.56127787e-02 -1.29693514e-03 9.99877272e-01 1.18571398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882557844 meters Centerline goodness : 0.303140 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.37, Z:1.19 [[ 9.99872171e-01 -4.90286312e-03 -1.52185368e-02 -5.55156374e+00] [ 4.93038108e-03 9.99986277e-01 1.77119495e-03 -3.73898071e-01] [ 1.52096440e-02 -1.84600172e-03 9.99882623e-01 1.18730505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942557844 meters Centerline goodness : 0.307946 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.38, Z:1.19 [[ 9.99867356e-01 -4.56655296e-03 -1.56338585e-02 -5.55013162e+00] [ 4.60730029e-03 9.99986080e-01 2.57132715e-03 -3.78036619e-01] [ 1.56218988e-02 -2.64301596e-03 9.99874477e-01 1.18697112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002557844 meters Centerline goodness : 0.148667 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.38, Z:1.19 [[ 9.99864048e-01 1.30062483e-04 -1.64884231e-02 -5.54658618e+00] [-2.39398587e-05 9.99979287e-01 6.43622404e-03 -3.77035035e-01] [ 1.64889187e-02 -6.43495429e-03 9.99843341e-01 1.18598008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062557844 meters Centerline goodness : 0.394828 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.38, Z:1.19 [[ 9.99875595e-01 5.48163614e-04 -1.57636766e-02 -5.54911230e+00] [-4.41197582e-04 9.99976862e-01 6.78827904e-03 -3.78187444e-01] [ 1.57670330e-02 -6.78047965e-03 9.99852702e-01 1.18717024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122557844 meters Centerline goodness : 0.387216 with order 3 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.39, Z:1.19 [[ 9.99851806e-01 4.50773061e-03 -1.66146392e-02 -5.57063773e+00] [-4.45675548e-03 9.99985252e-01 3.10383550e-03 -3.87670102e-01] [ 1.66283854e-02 -3.02932815e-03 9.99857150e-01 1.18668933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182557844 meters Centerline goodness : 0.128721 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:-0.40, Z:1.19 [[ 9.99882495e-01 1.82628313e-03 -1.52203982e-02 -5.57483540e+00] [-1.79166429e-03 9.99995778e-01 2.28782822e-03 -3.96459486e-01] [ 1.52245122e-02 -2.26028955e-03 9.99881546e-01 1.18640768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24255784399998 meters Centerline goodness : 0.189996 with order 3 Centerline is valid? [False, False] Translation: X:-5.58, Y:-0.40, Z:1.19 [[ 9.99892246e-01 -1.63878556e-03 -1.45880286e-02 -5.57797753e+00] [ 1.63932939e-03 9.99998656e-01 2.53211620e-05 -4.04061309e-01] [ 1.45879675e-02 -4.92330175e-05 9.99893589e-01 1.18882145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30255784399998 meters Centerline goodness : 0.366733 with order 3 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.41, Z:1.19 [[ 9.99852870e-01 5.49030977e-03 -1.62509720e-02 -5.55301605e+00] [-5.51887987e-03 9.99983302e-01 -1.71372987e-03 -4.10721628e-01] [ 1.62412918e-02 1.80316489e-03 9.99866476e-01 1.18732715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36255784399998 meters Centerline goodness : 0.143819 with order 1 Centerline is valid? [False, False] Translation: X:-5.55, Y:-0.41, Z:1.19 [[ 9.99846490e-01 5.69405238e-03 -1.65702685e-02 -5.55242687e+00] [-5.71148572e-03 9.99983184e-01 -1.00495149e-03 -4.14760966e-01] [ 1.65642677e-02 1.09943808e-03 9.99862199e-01 1.18781278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42255784399998 meters SLAMing on 141.48255784399998 meters SLAMing on 141.542557844 meters Centerline goodness : 0.124856 with order 3 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.42, Z:1.19 [[ 9.99692614e-01 1.62001479e-02 -1.87678694e-02 -5.48883989e+00] [-1.62125036e-02 9.99868441e-01 -5.06367944e-04 -4.23977397e-01] [ 1.87571971e-02 8.10486443e-04 9.99823740e-01 1.18894995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602557844 meters Centerline goodness : 0.123854 with order 3 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.43, Z:1.19 [[ 9.99678117e-01 1.64214461e-02 -1.93390520e-02 -5.48669339e+00] [-1.64235953e-02 9.99865123e-01 4.76941176e-05 -4.26992877e-01] [ 1.93372268e-02 2.69937998e-04 9.99812982e-01 1.18789368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662557844 meters Centerline goodness : 0.197586 with order 1 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.43, Z:1.19 [[ 9.99747185e-01 9.70217753e-03 -2.02838565e-02 -5.46780708e+00] [-9.67777097e-03 9.99952323e-01 1.30106836e-03 -4.27051168e-01] [ 2.02955126e-02 -1.10443691e-03 9.99793415e-01 1.18973524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722557844 meters Centerline goodness : 0.145218 with order 1 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.43, Z:1.19 [[ 9.99744027e-01 9.81040843e-03 -2.03871860e-02 -5.46759590e+00] [-9.78062729e-03 9.99950952e-01 1.55997704e-03 -4.28162764e-01] [ 2.04014901e-02 -1.36017825e-03 9.99790943e-01 1.18980534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782557844 meters Centerline goodness : 0.145881 with order 1 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.43, Z:1.19 [[ 9.99743621e-01 1.01475121e-02 -2.02415291e-02 -5.46841058e+00] [-1.01009503e-02 9.99946101e-01 2.40122566e-03 -4.31987149e-01] [ 2.02648045e-02 -2.19615136e-03 9.99792236e-01 1.19059836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842557844 meters Centerline goodness : 0.111864 with order 2 Centerline is valid? [False, False] Translation: X:-5.49, Y:-0.43, Z:1.19 [[ 9.99787117e-01 6.50294015e-04 -2.06227288e-02 -5.48871118e+00] [-5.67662130e-04 9.99991789e-01 4.01243652e-03 -4.31200626e-01] [ 2.06251687e-02 -3.99987560e-03 9.99779277e-01 1.18968566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902557844 meters Centerline goodness : 0.229747 with order 3 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.43, Z:1.19 [[ 9.99840709e-01 6.03613071e-04 -1.78379584e-02 -5.44454344e+00] [-5.64478829e-04 9.99997423e-01 2.19882805e-03 -4.31188438e-01] [ 1.78392397e-02 -2.18840865e-03 9.99838473e-01 1.18939010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962557844 meters Centerline goodness : 0.169406 with order 3 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.43, Z:1.19 [[ 9.99827578e-01 6.04589065e-04 -1.85593051e-02 -5.44254561e+00] [-5.54536118e-04 9.99996196e-01 2.70194712e-03 -4.34251239e-01] [ 1.85608680e-02 -2.69118944e-03 9.99824110e-01 1.18910881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02255784399998 meters SLAMing on 142.08255784399998 meters Centerline goodness : 0.237489 with order 3 Centerline is valid? [False, False] Translation: X:-5.43, Y:-0.44, Z:1.19 [[ 9.99874288e-01 8.35046641e-03 -1.34788038e-02 -5.42618179e+00] [-8.34387586e-03 9.99965041e-01 5.45118541e-04 -4.35537932e-01] [ 1.34828846e-02 -4.32584548e-04 9.99909008e-01 1.19016296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14255784399998 meters Centerline goodness : 0.167161 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.43, Z:1.19 [[ 9.99863063e-01 8.73896465e-03 -1.40529832e-02 -5.42410397e+00] [-8.73508989e-03 9.99961792e-01 3.37082923e-04 -4.33298865e-01] [ 1.40553921e-02 -2.14282692e-04 9.99901195e-01 1.18884551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20255784399998 meters Centerline goodness : 0.140031 with order 1 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.43, Z:1.19 [[ 9.99840069e-01 9.08577270e-03 -1.54040366e-02 -5.41975755e+00] [-9.09036056e-03 9.99958656e-01 -2.27841503e-04 -4.31100135e-01] [ 1.54013296e-02 3.67833311e-04 9.99881325e-01 1.18807905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26255784399999 meters Centerline goodness : 0.222616 with order 3 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.43, Z:1.19 [[ 9.99858619e-01 -5.96667282e-04 -1.68043505e-02 -5.43900453e+00] [ 6.14268111e-04 9.99999268e-01 1.04225508e-03 -4.28553231e-01] [ 1.68037163e-02 -1.05243010e-03 9.99858254e-01 1.18694902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.322557844 meters Centerline goodness : 0.136578 with order 1 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.43, Z:1.19 [[ 9.99883049e-01 -2.54238744e-03 -1.50806102e-02 -5.40414706e+00] [ 2.55417618e-03 9.99996447e-01 7.62506232e-04 -4.29825498e-01] [ 1.50786180e-02 -8.00935592e-04 9.99885990e-01 1.18646815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382557844 meters Centerline goodness : 0.130249 with order 1 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.43, Z:1.19 [[ 9.99884312e-01 -2.52556562e-03 -1.49994888e-02 -5.40425384e+00] [ 2.54478242e-03 9.99995965e-01 1.26221523e-03 -4.31446239e-01] [ 1.49962405e-02 -1.30023965e-03 9.99886705e-01 1.18578696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442557844 meters Centerline goodness : 0.122877 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.43, Z:1.19 [[ 9.99885998e-01 -2.15023846e-03 -1.49454680e-02 -5.40431227e+00] [ 2.18412091e-03 9.99995081e-01 2.25111922e-03 -4.33937789e-01] [ 1.49405541e-02 -2.28350529e-03 9.99885776e-01 1.18505442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502557844 meters Centerline goodness : 0.143495 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.44, Z:1.19 [[ 9.99901617e-01 -2.52429618e-03 -1.37980022e-02 -5.40818822e+00] [ 2.56105161e-03 9.99993218e-01 2.64680257e-03 -4.36027967e-01] [ 1.37912274e-02 -2.68187957e-03 9.99901300e-01 1.18602487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562557844 meters Centerline goodness : 0.143777 with order 3 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.44, Z:1.19 [[ 9.99907083e-01 -2.66085167e-03 -1.33695943e-02 -5.40983790e+00] [ 2.70975625e-03 9.99989700e-01 3.64111306e-03 -4.39717106e-01] [ 1.33597681e-02 -3.67700308e-03 9.99903994e-01 1.18593049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622557844 meters Centerline goodness : 0.111770 with order 2 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.44, Z:1.19 [[ 9.99907731e-01 -3.17772648e-03 -1.32072429e-02 -5.41039563e+00] [ 3.23064644e-03 9.99986831e-01 3.98748717e-03 -4.43856803e-01] [ 1.31943978e-02 -4.02978718e-03 9.99904830e-01 1.18658761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682557844 meters Centerline goodness : 0.156278 with order 3 Centerline is valid? [False, False] Translation: X:-5.41, Y:-0.45, Z:1.19 [[ 9.99902146e-01 -2.89061843e-03 -1.36873332e-02 -5.40936835e+00] [ 2.95967829e-03 9.99982980e-01 5.02796563e-03 -4.48935506e-01] [ 1.36725663e-02 -5.06798372e-03 9.99893683e-01 1.18695465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74255784399998 meters Centerline goodness : 0.210362 with order 2 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.45, Z:1.19 [[ 9.99901351e-01 5.78230149e-03 -1.28005012e-02 -5.38799218e+00] [-5.74485157e-03 9.99979116e-01 2.96050032e-03 -4.51084730e-01] [ 1.28173523e-02 -2.88667129e-03 9.99913688e-01 1.18654995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80255784399998 meters Centerline goodness : 0.087008 with order 1 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.45, Z:1.19 [[ 9.99901581e-01 5.92827992e-03 -1.27154768e-02 -5.38785019e+00] [-5.89244280e-03 9.99978567e-01 2.85400083e-03 -4.50239593e-01] [ 1.27321236e-02 -2.77879473e-03 9.99915082e-01 1.18597984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86255784399998 meters Centerline goodness : 0.095199 with order 1 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.45, Z:1.19 [[ 9.99903550e-01 5.95790581e-03 -1.25457109e-02 -5.38821747e+00] [-5.92406326e-03 9.99978718e-01 2.73297669e-03 -4.49559398e-01] [ 1.25617267e-02 -2.65839151e-03 9.99917565e-01 1.18588705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92255784399998 meters Centerline goodness : 0.125873 with order 3 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.44, Z:1.19 [[ 9.99907615e-01 -1.55619814e-03 -1.35033183e-02 -5.36687916e+00] [ 1.58970261e-03 9.99995684e-01 2.47082372e-03 -4.44112546e-01] [ 1.34994150e-02 -2.49206172e-03 9.99905773e-01 1.18614354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98255784399998 meters Centerline goodness : 0.123222 with order 3 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.44, Z:1.19 [[ 9.99915597e-01 -1.61991580e-03 -1.28908838e-02 -5.36851069e+00] [ 1.65178680e-03 9.99995605e-01 2.46210484e-03 -4.43931899e-01] [ 1.28868387e-02 -2.48319002e-03 9.99913878e-01 1.18615466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042557844 meters Centerline goodness : 0.176557 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.44, Z:1.19 [[ 9.99914499e-01 -1.76962710e-03 -1.29562099e-02 -5.36824211e+00] [ 1.79771801e-03 9.99996058e-01 2.15681722e-03 -4.42477620e-01] [ 1.29523421e-02 -2.17992442e-03 9.99913739e-01 1.18586053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102557844 meters SLAMing on 143.162557844 meters Centerline goodness : 0.136623 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.44, Z:1.18 [[ 9.99937223e-01 -1.19627999e-04 -1.12042833e-02 -5.32366720e+00] [ 1.40728525e-04 9.99998218e-01 1.88248581e-03 -4.37120291e-01] [ 1.12040382e-02 -1.88394440e-03 9.99935458e-01 1.18483175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222557844 meters Centerline goodness : 0.198644 with order 3 Centerline is valid? [False, False] Translation: X:-5.32, Y:-0.44, Z:1.18 [[ 9.99934375e-01 -1.70786572e-04 -1.14549884e-02 -5.32291617e+00] [ 1.93350106e-04 9.99998043e-01 1.96867764e-03 -4.37912373e-01] [ 1.14546298e-02 -1.97076327e-03 9.99932451e-01 1.18461562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282557844 meters Centerline goodness : 0.382476 with order 3 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.44, Z:1.18 [[ 9.99927646e-01 8.12711245e-03 -8.86865310e-03 -5.30270739e+00] [-8.12849088e-03 9.99966956e-01 -1.19392131e-04 -4.39804537e-01] [ 8.86738973e-03 1.91472258e-04 9.99960666e-01 1.18327920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342557844 meters Centerline goodness : 0.228010 with order 3 Centerline is valid? [False, False] Translation: X:-5.30, Y:-0.44, Z:1.18 [[ 9.99930865e-01 8.50889509e-03 -8.11568853e-03 -5.30486601e+00] [-8.51036751e-03 9.99963775e-01 -1.46910946e-04 -4.38042244e-01] [ 8.11414449e-03 2.15968281e-04 9.99967056e-01 1.18374733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402557844 meters SLAMing on 143.462557844 meters SLAMing on 143.52255784399998 meters SLAMing on 143.58255784399998 meters Centerline goodness : 0.224094 with order 3 Centerline is valid? [False, False] Translation: X:-5.25, Y:-0.41, Z:1.19 [[ 9.99678928e-01 2.24889944e-02 -1.16741471e-02 -5.24560493e+00] [-2.25097819e-02 9.99745257e-01 -1.65229896e-03 -4.08081181e-01] [ 1.16340147e-02 1.91455096e-03 9.99930490e-01 1.18636579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64255784399998 meters Centerline goodness : 0.147980 with order 3 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.40, Z:1.19 [[ 9.99842798e-01 1.27656118e-02 -1.23051986e-02 -5.26619905e+00] [-1.27781218e-02 9.99917916e-01 -9.38551815e-04 -4.01161795e-01] [ 1.22922074e-02 1.09564160e-03 9.99923848e-01 1.18579156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70255784399998 meters Centerline goodness : 0.392061 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:-0.39, Z:1.19 [[ 9.99944964e-01 5.46385565e-03 -8.95629687e-03 -5.24813915e+00] [-5.47214891e-03 9.99984621e-01 -9.01726113e-04 -3.89657672e-01] [ 8.95123224e-03 9.50686676e-04 9.99959485e-01 1.18667770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76255784399999 meters Centerline goodness : 0.358014 with order 3 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.38, Z:1.19 [[ 9.99958968e-01 -2.02472358e-03 -8.82964433e-03 -5.22824315e+00] [ 2.02226401e-03 9.99997914e-01 -2.87477477e-04 -3.83257614e-01] [ 8.83020797e-03 2.69609809e-04 9.99960977e-01 1.18819440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822557844 meters Centerline goodness : 0.390580 with order 3 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.38, Z:1.19 [[ 9.99959181e-01 -2.04940215e-03 -8.79983316e-03 -5.22809001e+00] [ 2.04961392e-03 9.99997899e-01 1.50468884e-05 -3.83874190e-01] [ 8.79978384e-03 -3.30825347e-05 9.99961281e-01 1.18724582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882557844 meters Centerline goodness : 0.390216 with order 3 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.38, Z:1.19 [[ 9.99956630e-01 -2.42356251e-03 -8.99241321e-03 -5.22710093e+00] [ 2.41599631e-03 9.99996718e-01 -8.52165251e-04 -3.80075757e-01] [ 8.99444897e-03 8.30402656e-04 9.99959204e-01 1.18633453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942557844 meters Centerline goodness : 0.366227 with order 3 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.38, Z:1.19 [[ 9.99941018e-01 7.41877442e-03 -7.93231370e-03 -5.20569158e+00] [-7.43290362e-03 9.99970839e-01 -1.75322563e-03 -3.78113691e-01] [ 7.91907560e-03 1.81208234e-03 9.99967002e-01 1.18564439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002557844 meters Centerline goodness : 0.233743 with order 3 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.38, Z:1.19 [[ 9.99945400e-01 7.28876867e-03 -7.48809827e-03 -5.20796904e+00] [-7.30477408e-03 9.99971089e-01 -2.11232489e-03 -3.76300299e-01] [ 7.47248553e-03 2.16690842e-03 9.99969733e-01 1.18769755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062557844 meters SLAMing on 144.122557844 meters Centerline goodness : 0.306209 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.37, Z:1.19 [[ 9.99944671e-01 7.06045791e-03 -7.79771972e-03 -5.20668309e+00] [-7.08103626e-03 9.99971511e-01 -2.61457366e-03 -3.73940987e-01] [ 7.77903748e-03 2.66964493e-03 9.99966179e-01 1.18671895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182557844 meters Centerline goodness : 0.148617 with order 3 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.37, Z:1.19 [[ 9.99964371e-01 3.13975114e-05 -8.44130574e-03 -5.18763924e+00] [-4.70959378e-05 9.99998270e-01 -1.85952306e-03 -3.69729023e-01] [ 8.44123275e-03 1.85985436e-03 9.99962643e-01 1.18915946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24255784399998 meters SLAMing on 144.30255784399998 meters Centerline goodness : 0.373548 with order 3 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.36, Z:1.19 [[ 9.99958636e-01 4.16608886e-03 -8.08515994e-03 -5.14612872e+00] [-4.17997817e-03 9.99989816e-01 -1.70173964e-03 -3.62603277e-01] [ 8.07798800e-03 1.73546504e-03 9.99965867e-01 1.18962835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36255784399998 meters Centerline goodness : 0.364077 with order 3 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.36, Z:1.19 [[ 9.99958378e-01 3.85287517e-03 -8.27033735e-03 -5.14517890e+00] [-3.87770784e-03 9.99988015e-01 -2.98868598e-03 -3.55875309e-01] [ 8.25872320e-03 3.02063154e-03 9.99961334e-01 1.18865646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42255784399998 meters Centerline goodness : 0.144964 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.35, Z:1.19 [[ 9.99965445e-01 3.47099026e-03 -7.55391744e-03 -5.14772992e+00] [-3.49841291e-03 9.99987328e-01 -3.62007483e-03 -3.53224408e-01] [ 7.54125647e-03 3.64637646e-03 9.99964916e-01 1.18965455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48255784399998 meters Centerline goodness : 0.340920 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.35, Z:1.19 [[ 9.99966743e-01 3.19810365e-03 -7.50235085e-03 -5.14817816e+00] [-3.22867668e-03 9.99986519e-01 -4.06656144e-03 -3.51178367e-01] [ 7.48924443e-03 4.09064886e-03 9.99963588e-01 1.19014498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542557844 meters SLAMing on 144.602557844 meters Centerline goodness : 0.141416 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.35, Z:1.19 [[ 9.99964004e-01 2.57106172e-03 -8.08586054e-03 -5.14603270e+00] [-2.61167467e-03 9.99984008e-01 -5.01617094e-03 -3.47593982e-01] [ 8.07283435e-03 5.03710801e-03 9.99954727e-01 1.18888791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662557844 meters Centerline goodness : 0.344478 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.34, Z:1.19 [[ 9.99963470e-01 2.32271736e-03 -8.22584408e-03 -5.14524170e+00] [-2.36980058e-03 9.99980840e-01 -5.71870146e-03 -3.44206217e-01] [ 8.21240355e-03 5.73798616e-03 9.99949815e-01 1.18807001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722557844 meters Centerline goodness : 0.121417 with order 3 Centerline is valid? [False, False] Translation: X:-5.15, Y:-0.34, Z:1.19 [[ 9.99965707e-01 2.06229184e-03 -8.02065336e-03 -5.14567041e+00] [-2.11424674e-03 9.99976805e-01 -6.47456395e-03 -3.40527813e-01] [ 8.00711488e-03 6.49129956e-03 9.99946873e-01 1.18791968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782557844 meters Centerline goodness : 0.343849 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.33, Z:1.19 [[ 9.99978318e-01 -3.14094527e-03 -5.78779087e-03 -5.12540368e+00] [ 3.11907841e-03 9.99987979e-01 -3.78326265e-03 -3.33651113e-01] [ 5.79960431e-03 3.76512804e-03 9.99976094e-01 1.18824011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842557844 meters Centerline goodness : 0.331872 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:-0.33, Z:1.19 [[ 9.99979846e-01 -3.42569012e-03 -5.34534613e-03 -5.12667677e+00] [ 3.40227073e-03 9.99984601e-01 -4.38422829e-03 -3.31426658e-01] [ 5.36028282e-03 4.36595362e-03 9.99976103e-01 1.18861044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902557844 meters Centerline goodness : 0.173037 with order 3 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.33, Z:1.19 [[ 9.99948926e-01 7.16671092e-03 -7.12620866e-03 -5.14441348e+00] [-7.20295822e-03 9.99961186e-01 -5.07388825e-03 -3.34011446e-01] [ 7.08956897e-03 5.12495889e-03 9.99961736e-01 1.18981668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962557844 meters Centerline goodness : 0.345235 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.33, Z:1.19 [[ 9.99917179e-01 9.80715979e-03 -8.33395265e-03 -5.14017548e+00] [-9.83755250e-03 9.99945080e-01 -3.61371843e-03 -3.27015226e-01] [ 8.29805464e-03 3.69540483e-03 9.99958742e-01 1.18900920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02255784399998 meters Centerline goodness : 0.134722 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.32, Z:1.19 [[ 9.99915799e-01 1.00175092e-02 -8.24893196e-03 -5.14002171e+00] [-1.00540021e-02 9.99939801e-01 -4.39443728e-03 -3.22836063e-01] [ 8.20441407e-03 4.47700204e-03 9.99956321e-01 1.18881658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08255784399998 meters Centerline goodness : 0.342006 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.32, Z:1.19 [[ 9.99920446e-01 9.70594209e-03 -8.05578325e-03 -5.14062552e+00] [-9.74649807e-03 9.99939949e-01 -5.01049491e-03 -3.20536772e-01] [ 8.00666791e-03 5.08861198e-03 9.99954999e-01 1.18902290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14255784399998 meters Centerline goodness : 0.134537 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.32, Z:1.19 [[ 0.99992922 0.00961913 -0.0070023 -5.14371812] [-0.00965734 0.99993855 -0.00544415 -0.31793576] [ 0.0069495 0.00551138 0.99996066 1.18973672] [ 0. 0. 0. 1. ]] SLAMing on 145.20255784399998 meters Centerline goodness : 0.135394 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.31, Z:1.19 [[ 9.99893295e-01 1.28160864e-02 -7.01052470e-03 -5.14403223e+00] [-1.28407082e-02 9.99911504e-01 -3.47845971e-03 -3.09861233e-01] [ 6.96532406e-03 3.56810864e-03 9.99969376e-01 1.19065903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26255784399999 meters Centerline goodness : 0.252585 with order 3 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.30, Z:1.19 [[ 9.99959556e-01 6.28634063e-03 -6.43176087e-03 -5.16131520e+00] [-6.29734330e-03 9.99978740e-01 -1.69185756e-03 -2.97131167e-01] [ 6.42098854e-03 1.73229214e-03 9.99977885e-01 1.18810572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.322557844 meters Centerline goodness : 0.121211 with order 3 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.29, Z:1.19 [[ 9.99957554e-01 5.50475851e-03 -7.38838733e-03 -5.15854393e+00] [-5.52826124e-03 9.99979712e-01 -3.16439238e-03 -2.92188245e-01] [ 7.37081822e-03 3.20510300e-03 9.99967699e-01 1.18736652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.382557844 meters Centerline goodness : 0.229108 with order 3 Centerline is valid? [False, False] Translation: X:-5.16, Y:-0.29, Z:1.19 [[ 9.99963247e-01 5.34371621e-03 -6.70437824e-03 -5.16076003e+00] [-5.36374634e-03 9.99981195e-01 -2.97320482e-03 -2.92638625e-01] [ 6.68836420e-03 3.00905613e-03 9.99973105e-01 1.18765626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442557844 meters Centerline goodness : 0.140379 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.29, Z:1.19 [[ 9.99988446e-01 -2.92306951e-03 -3.81630740e-03 -5.14458425e+00] [ 2.91762490e-03 9.99994719e-01 -1.43145775e-03 -2.86081303e-01] [ 3.82047149e-03 1.42030665e-03 9.99991693e-01 1.18799018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502557844 meters Centerline goodness : 0.346063 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.29, Z:1.19 [[ 9.99987538e-01 -3.23169377e-03 -3.80533246e-03 -5.14476274e+00] [ 3.22531347e-03 9.99993385e-01 -1.68162051e-03 -2.85604868e-01] [ 3.81074177e-03 1.66932617e-03 9.99991346e-01 1.18821017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562557844 meters Centerline goodness : 0.352330 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:-0.29, Z:1.19 [[ 9.99987432e-01 -3.22885942e-03 -3.83536441e-03 -5.14484241e+00] [ 3.22228095e-03 9.99993329e-01 -1.72015563e-03 -2.85124226e-01] [ 3.84089297e-03 1.70777539e-03 9.99991165e-01 1.18841716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622557844 meters Centerline goodness : 0.395592 with order 2 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.29, Z:1.19 [[ 9.99960996e-01 -4.97666676e-03 -7.29655243e-03 -5.18859554e+00] [ 4.96740455e-03 9.99986834e-01 -1.28696871e-03 -2.88568044e-01] [ 7.30286118e-03 1.25067359e-03 9.99972552e-01 1.18994172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682557844 meters Centerline goodness : 0.143836 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.29, Z:1.19 [[ 9.99955789e-01 -5.62249428e-03 -7.53705156e-03 -5.18801078e+00] [ 5.61792576e-03 9.99984023e-01 -6.27176108e-04 -2.92264194e-01] [ 7.54045743e-03 5.84805784e-04 9.99971399e-01 1.18868375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74255784399998 meters Centerline goodness : 0.341478 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.30, Z:1.19 [[ 9.99954629e-01 -5.96954857e-03 -7.42329218e-03 -5.18873323e+00] [ 5.96973738e-03 9.99982181e-01 3.27775061e-06 -2.95462302e-01] [ 7.42314034e-03 -4.75927067e-05 9.99972447e-01 1.18852516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80255784399998 meters Centerline goodness : 0.229223 with order 3 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.30, Z:1.19 [[ 9.99923262e-01 -9.21035937e-03 -8.28492056e-03 -5.18594901e+00] [ 9.19094444e-03 9.99954934e-01 -2.37843587e-03 -3.01270977e-01] [ 8.30645344e-03 2.30210711e-03 9.99962851e-01 1.18734780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86255784399998 meters Centerline goodness : 0.188273 with order 3 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.30, Z:1.19 [[ 9.99924193e-01 -8.83153875e-03 -8.57972976e-03 -5.18496342e+00] [ 8.81567151e-03 9.99959364e-01 -1.88544874e-03 -3.02594824e-01] [ 8.59603252e-03 1.80966973e-03 9.99961416e-01 1.18701109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92255784399998 meters Centerline goodness : 0.338680 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.30, Z:1.19 [[ 9.99924179e-01 -8.54526205e-03 -8.86650517e-03 -5.18383551e+00] [ 8.52922833e-03 9.99961924e-01 -1.84458792e-03 -3.02677506e-01] [ 8.88193006e-03 1.76882362e-03 9.99958990e-01 1.18687058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98255784399998 meters Centerline goodness : 0.344833 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.30, Z:1.19 [[ 9.99925033e-01 -8.24213915e-03 -9.05508283e-03 -5.18348659e+00] [ 8.21879471e-03 9.99962813e-01 -2.61224220e-03 -3.00143957e-01] [ 9.07627657e-03 2.53762450e-03 9.99955590e-01 1.18840420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042557844 meters Centerline goodness : 0.197720 with order 3 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.30, Z:1.19 [[ 9.99950098e-01 -4.45525295e-03 -8.94158764e-03 -5.18415690e+00] [ 4.46085773e-03 9.99989866e-01 6.06974965e-04 -2.97247015e-01] [ 8.93879280e-03 -6.46831827e-04 9.99959839e-01 1.18921712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102557844 meters Centerline goodness : 0.346863 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.30, Z:1.19 [[ 9.99975226e-01 4.50687435e-03 -5.40700369e-03 -5.16649413e+00] [-4.51122687e-03 9.99989510e-01 -7.93052957e-04 -2.96394033e-01] [ 5.40337278e-03 8.17425530e-04 9.99985068e-01 1.18983520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.162557844 meters Centerline goodness : 0.121229 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.29, Z:1.19 [[ 9.99978169e-01 4.36128605e-03 -4.96391618e-03 -5.16777349e+00] [-4.36896156e-03 9.99989276e-01 -1.53646852e-03 -2.92716856e-01] [ 4.95716196e-03 1.55812214e-03 9.99986499e-01 1.19016072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222557844 meters Centerline goodness : 0.217582 with order 3 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.29, Z:1.19 [[ 9.99978783e-01 4.23052228e-03 -4.95344892e-03 -5.16747998e+00] [-4.24213236e-03 9.99988274e-01 -2.33568146e-03 -2.88835996e-01] [ 4.94350968e-03 2.35664509e-03 9.99985004e-01 1.18966822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282557844 meters Centerline goodness : 0.140285 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:-0.28, Z:1.19 [[ 9.99953454e-01 7.61935243e-03 -5.91901698e-03 -5.16531261e+00] [-7.61839469e-03 9.99970963e-01 1.84337682e-04 -2.83493033e-01] [ 5.92024964e-03 -1.39235694e-04 9.99982465e-01 1.19013682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342557844 meters Centerline goodness : 0.121891 with order 3 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.28, Z:1.19 [[ 9.99976906e-01 -1.62425209e-03 -6.59916723e-03 -5.18504164e+00] [ 1.62879955e-03 9.99998440e-01 6.83779429e-04 -2.75661881e-01] [ 6.59804631e-03 -6.94512358e-04 9.99977991e-01 1.18958654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402557844 meters Centerline goodness : 0.345837 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.28, Z:1.19 [[ 9.99979598e-01 -1.70381881e-03 -6.15633393e-03 -5.18660248e+00] [ 1.70794307e-03 9.99998321e-01 6.64725299e-04 -2.75463257e-01] [ 6.15519102e-03 -6.75226405e-04 9.99980829e-01 1.19041860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462557844 meters Centerline goodness : 0.144427 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.28, Z:1.19 [[ 9.99980775e-01 -1.69941454e-03 -5.96336802e-03 -5.18752212e+00] [ 1.70348430e-03 9.99998320e-01 6.77447361e-04 -2.75082434e-01] [ 5.96220673e-03 -6.87592841e-04 9.99981989e-01 1.19114987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52255784399998 meters Centerline goodness : 0.145316 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.28, Z:1.19 [[ 9.99977351e-01 -1.73523306e-03 -6.50286508e-03 -5.18546231e+00] [ 1.73973320e-03 9.99998251e-01 6.86430473e-04 -2.75292689e-01] [ 6.50166259e-03 -6.97728176e-04 9.99978621e-01 1.18983840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58255784399998 meters Centerline goodness : 0.363247 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.27, Z:1.19 [[ 9.99975462e-01 -1.71555024e-03 -6.79209796e-03 -5.18420591e+00] [ 1.71995196e-03 9.99998315e-01 6.42277837e-04 -2.74976216e-01] [ 6.79098465e-03 -6.53944159e-04 9.99976727e-01 1.18887116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64255784399998 meters Centerline goodness : 0.148481 with order 3 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.28, Z:1.19 [[ 9.99976042e-01 -1.69329372e-03 -6.71175938e-03 -5.18509262e+00] [ 1.69776073e-03 9.99998341e-01 6.59907084e-04 -2.75140310e-01] [ 6.71063083e-03 -6.71286236e-04 9.99977258e-01 1.19006907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70255784399998 meters Centerline goodness : 0.140334 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.28, Z:1.19 [[ 9.99981316e-01 -1.42888573e-03 -5.94348159e-03 -5.18775762e+00] [ 1.43551872e-03 9.99998351e-01 1.11189418e-03 -2.76590984e-01] [ 5.94188302e-03 -1.12040539e-03 9.99981719e-01 1.19133859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76255784399999 meters Centerline goodness : 0.143890 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:-0.28, Z:1.19 [[ 9.99966070e-01 5.07032451e-03 -6.49234517e-03 -5.20359105e+00] [-5.07406614e-03 9.99986970e-01 -5.59971293e-04 -2.84892877e-01] [ 6.48942134e-03 5.92894882e-04 9.99978768e-01 1.18771181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822557844 meters Centerline goodness : 0.342718 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:-0.29, Z:1.19 [[ 9.99963832e-01 2.42228466e-03 -8.15269845e-03 -5.19788898e+00] [-2.44694120e-03 9.99992459e-01 -3.01572646e-03 -2.88958068e-01] [ 8.14533202e-03 3.03556656e-03 9.99962219e-01 1.18538175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882557844 meters Centerline goodness : 0.146364 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:-0.29, Z:1.19 [[ 9.99964797e-01 2.43872586e-03 -8.02851912e-03 -5.19861092e+00] [-2.45593185e-03 9.99994707e-01 -2.13394794e-03 -2.93801064e-01] [ 8.02327251e-03 2.15359032e-03 9.99965494e-01 1.18627744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942557844 meters Centerline goodness : 0.238909 with order 3 Centerline is valid? [False, False] Translation: X:-5.20, Y:-0.30, Z:1.19 [[ 9.99971610e-01 2.44138282e-03 -7.12866689e-03 -5.20187333e+00] [-2.45316668e-03 9.99995638e-01 -1.64474862e-03 -2.96849090e-01] [ 7.12462034e-03 1.66218973e-03 9.99973238e-01 1.18830731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002557844 meters Centerline goodness : 0.348172 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.29, Z:1.19 [[ 9.99961806e-01 -5.01926674e-03 -7.15497210e-03 -5.18173620e+00] [ 5.01156958e-03 9.99986844e-01 -1.09330106e-03 -2.92659373e-01] [ 7.16036554e-03 1.05740166e-03 9.99973805e-01 1.18888486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062557844 meters Centerline goodness : 0.210696 with order 3 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.29, Z:1.19 [[ 9.99969840e-01 -4.71956523e-03 -6.16806173e-03 -5.18445268e+00] [ 4.71309335e-03 9.99988328e-01 -1.06337140e-03 -2.91827329e-01] [ 6.17300839e-03 1.03426867e-03 9.99980412e-01 1.18933784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122557844 meters Centerline goodness : 0.178859 with order 3 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.29, Z:1.19 [[ 9.99984526e-01 -3.62226863e-03 -4.22208052e-03 -5.19088019e+00] [ 3.62296017e-03 9.99993425e-01 1.56154386e-04 -2.92956572e-01] [ 4.22148713e-03 -1.71448399e-04 9.99991075e-01 1.19158637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182557844 meters Centerline goodness : 0.121778 with order 3 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.29, Z:1.19 [[ 9.99979983e-01 -3.90316940e-03 -4.97993525e-03 -5.18816875e+00] [ 3.90104599e-03 9.99992296e-01 -4.36036140e-04 -2.91111468e-01] [ 4.98159881e-03 4.16600455e-04 9.99987505e-01 1.19007548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24255784399998 meters Centerline goodness : 0.121556 with order 3 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.29, Z:1.19 [[ 9.99978683e-01 -3.78745888e-03 -5.31878844e-03 -5.18715688e+00] [ 3.78531073e-03 9.99992750e-01 -4.13887868e-04 -2.90849077e-01] [ 5.32031747e-03 3.93745778e-04 9.99985769e-01 1.18978269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30255784399998 meters Centerline goodness : 0.143184 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.29, Z:1.19 [[ 9.99980591e-01 -3.68178088e-03 -5.02616551e-03 -5.18773736e+00] [ 3.67871587e-03 9.99993042e-01 -6.18920322e-04 -2.88809290e-01] [ 5.02840927e-03 6.00418474e-04 9.99987177e-01 1.18953285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36255784399998 meters Centerline goodness : 0.144230 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.29, Z:1.19 [[ 9.99965639e-01 4.16984287e-03 -7.16466436e-03 -5.20721250e+00] [-4.18292452e-03 9.99989610e-01 -1.81184336e-03 -2.91497143e-01] [ 7.15703482e-03 1.84175035e-03 9.99972692e-01 1.18828917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42255784399998 meters Centerline goodness : 0.345577 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.28, Z:1.19 [[ 9.99965452e-01 -3.01680765e-03 -7.74553407e-03 -5.18712904e+00] [ 3.01348706e-03 9.99995362e-01 -4.40345105e-04 -2.83912191e-01] [ 7.74682659e-03 4.16988825e-04 9.99969906e-01 1.18827468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48255784399998 meters Centerline goodness : 0.345369 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.29, Z:1.19 [[ 9.99961005e-01 4.37978542e-03 -7.66849729e-03 -5.20681380e+00] [-4.39077023e-03 9.99989358e-01 -1.41621022e-03 -2.90400995e-01] [ 7.66221298e-03 1.44982561e-03 9.99969594e-01 1.18640626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542557844 meters Centerline goodness : 0.121225 with order 3 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.29, Z:1.19 [[ 9.99967346e-01 4.48617589e-03 -6.72168902e-03 -5.21010261e+00] [-4.49616342e-03 9.99988810e-01 -1.47149296e-03 -2.89626287e-01] [ 6.71501243e-03 1.50166672e-03 9.99976327e-01 1.18808191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602557844 meters Centerline goodness : 0.140636 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:-0.28, Z:1.19 [[ 9.99960896e-01 -6.09229576e-04 -8.82248355e-03 -5.18911543e+00] [ 6.12166824e-04 9.99999758e-01 3.30230961e-04 -2.80070457e-01] [ 8.82228023e-03 -3.35618879e-04 9.99961027e-01 1.18889123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662557844 meters Centerline goodness : 0.355092 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:-0.28, Z:1.18 [[ 9.99950807e-01 1.84901688e-03 -9.74494628e-03 -5.18360163e+00] [-1.82829107e-03 9.99996049e-01 2.13530560e-03 -2.75458195e-01] [ 9.74885599e-03 -2.11738396e-03 9.99950237e-01 1.18487638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722557844 meters Centerline goodness : 0.319364 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.28, Z:1.19 [[ 9.99909784e-01 3.61952894e-04 -1.34273302e-02 -5.22709715e+00] [-3.30046273e-04 9.99997117e-01 2.37838444e-03 -2.77704595e-01] [ 1.34281524e-02 -2.37373823e-03 9.99907021e-01 1.18572939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782557844 meters Centerline goodness : 0.348642 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.28, Z:1.19 [[ 9.99907350e-01 -3.28838203e-04 -1.36082422e-02 -5.22679970e+00] [ 3.54237176e-04 9.99998200e-01 1.86407213e-03 -2.76787986e-01] [ 1.36076048e-02 -1.86871997e-03 9.99905666e-01 1.18606023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842557844 meters Centerline goodness : 0.144117 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.28, Z:1.19 [[ 9.99934446e-01 -4.08715469e-03 -1.06957234e-02 -5.27180115e+00] [ 4.10017496e-03 9.99990879e-01 1.19569019e-03 -2.79237355e-01] [ 1.06907389e-02 -1.23946614e-03 9.99942084e-01 1.18558286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902557844 meters Centerline goodness : 0.159352 with order 3 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.28, Z:1.19 [[ 9.99932426e-01 -4.60719841e-03 -1.06731864e-02 -5.27197190e+00] [ 4.61956838e-03 9.99988686e-01 1.13461198e-03 -2.80277391e-01] [ 1.06678382e-02 -1.18384083e-03 9.99942396e-01 1.18594121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962557844 meters Centerline goodness : 0.342120 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:-0.28, Z:1.19 [[ 9.99934194e-01 -4.57384877e-03 -1.05208478e-02 -5.27253718e+00] [ 4.58911420e-03 9.99988451e-01 1.42728543e-03 -2.81747718e-01] [ 1.05141981e-02 -1.47547288e-03 9.99943636e-01 1.18630527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02255784399998 meters Centerline goodness : 0.362662 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:-0.29, Z:1.19 [[ 9.99943026e-01 4.48794855e-03 -9.68523784e-03 -5.25423696e+00] [-4.48011203e-03 9.99989619e-01 8.30664803e-04 -2.85635960e-01] [ 9.68886528e-03 -7.87226526e-04 9.99952752e-01 1.18750341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08255784399998 meters Centerline goodness : 0.139636 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:-0.28, Z:1.19 [[ 9.99917613e-01 8.17271149e-03 -9.89821651e-03 -5.25326164e+00] [-8.13561394e-03 9.99959752e-01 3.78238723e-03 -2.80975765e-01] [ 9.92873048e-03 -3.70154755e-03 9.99943858e-01 1.18719308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14255784399998 meters Centerline goodness : 0.139971 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:-0.28, Z:1.19 [[ 9.99922926e-01 8.26348017e-03 -9.26589809e-03 -5.25499420e+00] [-8.23459834e-03 9.99961131e-01 3.15083446e-03 -2.77094195e-01] [ 9.29157480e-03 -3.07429066e-03 9.99952107e-01 1.18746343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20255784399998 meters Centerline goodness : 0.127393 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:-0.27, Z:1.19 [[ 9.99924002e-01 7.96026236e-03 -9.41410348e-03 -5.25471309e+00] [-7.93794952e-03 9.99965602e-01 2.40514555e-03 -2.74012355e-01] [ 9.43292523e-03 -2.33023408e-03 9.99952794e-01 1.18751700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26255784399999 meters Centerline goodness : 0.145768 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.27, Z:1.19 [[ 9.99948087e-01 -1.46987482e-04 -1.01883290e-02 -5.23305963e+00] [ 1.77590281e-04 9.99995476e-01 3.00287172e-03 -2.65502706e-01] [ 1.01878415e-02 -3.00452518e-03 9.99943589e-01 1.18608347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.322557844 meters Centerline goodness : 0.336124 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.27, Z:1.19 [[ 9.99944062e-01 -4.37720889e-03 -9.62875067e-03 -5.23503246e+00] [ 4.38453446e-03 9.99990114e-01 7.39823768e-04 -2.72195763e-01] [ 9.62541712e-03 -7.81999973e-04 9.99953369e-01 1.18533902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.382557844 meters Centerline goodness : 0.375074 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:-0.28, Z:1.18 [[ 9.99973663e-01 5.48874909e-04 -7.23679846e-03 -5.25234943e+00] [-5.53404238e-04 9.99999652e-01 -6.23887075e-04 -2.84760435e-01] [ 7.23645351e-03 6.27875519e-04 9.99973619e-01 1.18286198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442557844 meters Centerline goodness : 0.342416 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.28, Z:1.18 [[ 9.99954017e-01 -7.44970499e-03 -6.03875816e-03 -5.23145845e+00] [ 7.45139298e-03 9.99972205e-01 2.57074744e-04 -2.81915305e-01] [ 6.03667518e-03 -3.02060083e-04 9.99981733e-01 1.18292069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502557844 meters Centerline goodness : 0.147422 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.29, Z:1.18 [[ 9.99993177e-01 1.70144688e-03 -3.27894934e-03 -5.21314568e+00] [-1.70209179e-03 9.99998533e-01 -1.93899047e-04 -2.87504269e-01] [ 3.27861462e-03 1.99478797e-04 9.99994605e-01 1.18415016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562557844 meters Centerline goodness : 0.342803 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:-0.28, Z:1.18 [[ 9.99959145e-01 -7.28664135e-03 -5.34911299e-03 -5.23257542e+00] [ 7.29182172e-03 9.99972963e-01 9.49591736e-04 -2.84788225e-01] [ 5.34204904e-03 -9.88557719e-04 9.99985243e-01 1.18439963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622557844 meters Centerline goodness : 0.342726 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.29, Z:1.18 [[ 9.99966469e-01 -1.15255249e-04 -8.18827729e-03 -5.21246895e+00] [ 1.25419589e-04 9.99999222e-01 1.24082566e-03 -2.92541129e-01] [ 8.18812791e-03 -1.24181102e-03 9.99965706e-01 1.18305276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682557844 meters Centerline goodness : 0.343385 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.29, Z:1.18 [[ 9.99970010e-01 6.40862111e-05 -7.74441253e-03 -5.21385314e+00] [-5.20854370e-05 9.99998798e-01 1.54979594e-03 -2.93388449e-01] [ 7.74450254e-03 -1.54934609e-03 9.99968811e-01 1.18351839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74255784399998 meters Centerline goodness : 0.370090 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.29, Z:1.18 [[ 9.99973388e-01 4.21944098e-04 -7.28315413e-03 -5.21503647e+00] [-4.09202034e-04 9.99998383e-01 1.75092696e-03 -2.93407799e-01] [ 7.28388115e-03 -1.74790008e-03 9.99971945e-01 1.18359033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80255784399998 meters Centerline goodness : 0.139820 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:-0.29, Z:1.18 [[ 9.99971972e-01 1.29051703e-03 -7.37498809e-03 -5.21472374e+00] [-1.27612217e-03 9.99997272e-01 1.95622184e-03 -2.91908066e-01] [ 7.37749251e-03 -1.94675562e-03 9.99970891e-01 1.18313401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86255784399998 meters Centerline goodness : 0.311294 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.29, Z:1.18 [[ 9.99975633e-01 1.98234682e-03 -6.69349930e-03 -5.21657094e+00] [-1.96860096e-03 9.99995941e-01 2.05957642e-03 -2.89932045e-01] [ 6.69755493e-03 -2.04634941e-03 9.99975477e-01 1.18313206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92255784399998 meters Centerline goodness : 0.388349 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.29, Z:1.18 [[ 9.99981899e-01 2.04798405e-03 -5.65758864e-03 -5.21982064e+00] [-2.03868438e-03 9.99996562e-01 1.64902845e-03 -2.87361056e-01] [ 5.66094637e-03 -1.63746457e-03 9.99982636e-01 1.18416252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98255784399998 meters Centerline goodness : 0.197955 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.28, Z:1.18 [[ 9.99979140e-01 1.82356682e-03 -6.19627200e-03 -5.21760179e+00] [-1.81644921e-03 9.99997684e-01 1.15412521e-03 -2.84921340e-01] [ 6.19836227e-03 -1.14284592e-03 9.99980137e-01 1.18255137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042557844 meters Centerline goodness : 0.194312 with order 3 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.28, Z:1.18 [[ 9.99977199e-01 1.60616967e-03 -6.55908946e-03 -5.21659929e+00] [-1.60083093e-03 9.99998383e-01 8.19115098e-04 -2.83818115e-01] [ 6.56039449e-03 -8.08596428e-04 9.99978153e-01 1.18233041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102557844 meters Centerline goodness : 0.344031 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:-0.28, Z:1.18 [[ 9.99978242e-01 1.46057254e-03 -6.43292565e-03 -5.21758961e+00] [-1.45718244e-03 9.99998797e-01 5.31646603e-04 -2.82363795e-01] [ 6.43369442e-03 -5.22261089e-04 9.99979167e-01 1.18341532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162557844 meters Centerline goodness : 0.139597 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.28, Z:1.18 [[ 9.99969030e-01 -5.39298339e-03 -5.73198959e-03 -5.24213215e+00] [ 5.41214895e-03 9.99979798e-01 3.33337831e-03 -2.76018792e-01] [ 5.71389694e-03 -3.36429746e-03 9.99978016e-01 1.18368091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.222557844 meters Centerline goodness : 0.139877 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.27, Z:1.18 [[ 9.99969390e-01 -5.70581467e-03 -5.35376872e-03 -5.24314612e+00] [ 5.71789677e-03 9.99981135e-01 2.24416120e-03 -2.70642931e-01] [ 5.34086295e-03 -2.27470480e-03 9.99983150e-01 1.18361687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282557844 meters Centerline goodness : 0.133979 with order 3 Centerline is valid? [False, False] Translation: X:-5.24, Y:-0.26, Z:1.18 [[ 9.99976169e-01 -2.91418314e-03 -6.25855257e-03 -5.23949553e+00] [ 2.93928311e-03 9.99987660e-01 4.00506217e-03 -2.62156648e-01] [ 6.24680386e-03 -4.02336238e-03 9.99972395e-01 1.18153766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342557844 meters Centerline goodness : 0.123022 with order 3 Centerline is valid? [False, False] Translation: X:-5.28, Y:-0.26, Z:1.18 [[ 9.99947221e-01 -4.20644220e-03 -9.37347463e-03 -5.28390968e+00] [ 4.24322936e-03 9.99983360e-01 3.90817660e-03 -2.62761220e-01] [ 9.35687914e-03 -3.94774413e-03 9.99948431e-01 1.18216461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402557844 meters Centerline goodness : 0.121687 with order 3 Centerline is valid? [False, False] Translation: X:-5.26, Y:-0.26, Z:1.18 [[ 9.99948803e-01 3.91106023e-03 -9.33249618e-03 -5.26247187e+00] [-3.89933383e-03 9.99991586e-01 1.27437731e-03 -2.56319208e-01] [ 9.33740182e-03 -1.23792154e-03 9.99955639e-01 1.18213324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462557844 meters Centerline goodness : 0.181104 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.25, Z:1.18 [[ 9.99917995e-01 3.74844102e-03 -1.22455359e-02 -5.30846942e+00] [-3.72076270e-03 9.99990474e-01 2.28227994e-03 -2.54332921e-01] [ 1.22539742e-02 -2.23653004e-03 9.99922416e-01 1.18403978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52255784399998 meters Centerline goodness : 0.124599 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.25, Z:1.18 [[ 9.99921883e-01 3.50000073e-03 -1.19991156e-02 -5.30933548e+00] [-3.48038111e-03 9.99992573e-01 1.65558078e-03 -2.51212753e-01] [ 1.20048210e-02 -1.61368995e-03 9.99926637e-01 1.18440496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58255784399998 meters Centerline goodness : 0.125191 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.25, Z:1.19 [[ 9.99925961e-01 3.12515576e-03 -1.17603368e-02 -5.31042659e+00] [-3.11268235e-03 9.99994574e-01 1.07878810e-03 -2.48972400e-01] [ 1.17636444e-02 -1.04210204e-03 9.99930263e-01 1.18523513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64255784399998 meters Centerline goodness : 0.123834 with order 3 Centerline is valid? [False, False] Translation: X:-5.31, Y:-0.25, Z:1.19 [[ 9.99925874e-01 2.99857466e-03 -1.18006366e-02 -5.31041359e+00] [-2.98946126e-03 9.99995220e-01 7.89844420e-04 -2.47285382e-01] [ 1.18029486e-02 -7.54508326e-04 9.99930058e-01 1.18531522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70255784399998 meters Centerline goodness : 0.121358 with order 3 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.25, Z:1.18 [[ 9.99966935e-01 2.00422811e-03 -7.88115914e-03 -5.35632990e+00] [-1.99790953e-03 9.99997677e-01 8.09523860e-04 -2.45422837e-01] [ 7.88276330e-03 -7.93751250e-04 9.99968616e-01 1.18414597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76255784399999 meters Centerline goodness : 0.140698 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.24, Z:1.18 [[ 9.99968941e-01 1.82975130e-03 -7.66604348e-03 -5.35689849e+00] [-1.82917133e-03 9.99998324e-01 8.26651362e-05 -2.41662024e-01] [ 7.66618189e-03 -6.86400618e-05 9.99970612e-01 1.18413471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822557844 meters Centerline goodness : 0.142483 with order 1 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.24, Z:1.18 [[ 9.99966265e-01 1.65666693e-03 -8.04508804e-03 -5.35580543e+00] [-1.66583938e-03 9.99997970e-01 -1.13356337e-03 -2.35405110e-01] [ 8.04319377e-03 1.14692695e-03 9.99966995e-01 1.18354387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882557844 meters Centerline goodness : 0.123396 with order 3 Centerline is valid? [False, False] Translation: X:-5.36, Y:-0.23, Z:1.18 [[ 9.99967351e-01 1.51493290e-03 -7.93734793e-03 -5.35603517e+00] [-1.52742776e-03 9.99997604e-01 -1.56836067e-03 -2.33086769e-01] [ 7.93495295e-03 1.58043319e-03 9.99967269e-01 1.18332972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942557844 meters Centerline goodness : 0.126309 with order 3 Centerline is valid? [False, False] Translation: X:-5.34, Y:-0.23, Z:1.18 [[ 9.99953442e-01 -7.48242835e-03 -6.09317309e-03 -5.33517052e+00] [ 7.47245905e-03 9.99970707e-01 -1.65726849e-03 -2.27918529e-01] [ 6.10539499e-03 1.61166034e-03 9.99980063e-01 1.18337373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002557844 meters Centerline goodness : 0.126398 with order 3 Centerline is valid? [False, False] Translation: X:-5.35, Y:-0.23, Z:1.18 [[ 9.99983720e-01 -3.31210998e-04 -5.69655439e-03 -5.35396331e+00] [ 3.15224105e-04 9.99996010e-01 -2.80708339e-03 -2.33900150e-01] [ 5.69746140e-03 2.80524200e-03 9.99979835e-01 1.18170545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062557844 meters Centerline goodness : 0.128277 with order 3 Centerline is valid? [False, False] Translation: X:-5.35, Y:-0.23, Z:1.18 [[ 9.99983684e-01 -3.76391561e-04 -5.69998967e-03 -5.35383503e+00] [ 3.58465360e-04 9.99994988e-01 -3.14564828e-03 -2.31664632e-01] [ 5.70114510e-03 3.14355370e-03 9.99978807e-01 1.18141883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122557844 meters Centerline goodness : 0.236137 with order 3 Centerline is valid? [False, False] Translation: X:-5.35, Y:-0.23, Z:1.18 [[ 9.99985008e-01 -6.11515808e-04 -5.44144069e-03 -5.35449689e+00] [ 5.91088791e-04 9.99992776e-01 -3.75478889e-03 -2.29132426e-01] [ 5.44369750e-03 3.75151623e-03 9.99978146e-01 1.18137371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182557844 meters Centerline goodness : 0.130984 with order 3 Centerline is valid? [False, False] Translation: X:-5.35, Y:-0.23, Z:1.18 [[ 9.99981257e-01 -5.06660695e-04 -6.10155779e-03 -5.35203215e+00] [ 4.82647364e-04 9.99992136e-01 -3.93643613e-03 -2.27220962e-01] [ 6.10350424e-03 3.93341744e-03 9.99973637e-01 1.17991337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24255784399998 meters Centerline goodness : 0.121226 with order 3 Centerline is valid? [False, False] Translation: X:-5.35, Y:-0.23, Z:1.18 [[ 9.99979002e-01 -7.04078918e-04 -6.44206835e-03 -5.35120298e+00] [ 6.79569050e-04 9.99992526e-01 -3.80605636e-03 -2.28907575e-01] [ 6.44469997e-03 3.80159861e-03 9.99972006e-01 1.18002862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30255784399998 meters Centerline goodness : 0.135278 with order 3 Centerline is valid? [False, False] Translation: X:-5.35, Y:-0.23, Z:1.18 [[ 9.99979941e-01 -1.29220005e-03 -6.20066689e-03 -5.35216972e+00] [ 1.26953020e-03 9.99992502e-01 -3.65857816e-03 -2.32189450e-01] [ 6.20534801e-03 3.65063284e-03 9.99974083e-01 1.18075774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36255784399998 meters Centerline goodness : 0.221361 with order 3 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.24, Z:1.18 [[ 9.99954981e-01 -3.26982531e-03 -8.90756082e-03 -5.39240493e+00] [ 3.24128565e-03 9.99989574e-01 -3.21653645e-03 -2.41116479e-01] [ 8.91798547e-03 3.18751969e-03 9.99955154e-01 1.17864765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42255784399998 meters Centerline goodness : 0.128950 with order 3 Centerline is valid? [False, False] Translation: X:-5.39, Y:-0.24, Z:1.18 [[ 9.99953257e-01 -3.18677840e-03 -9.12844019e-03 -5.39187322e+00] [ 3.16107581e-03 9.99991003e-01 -2.82870585e-03 -2.43477296e-01] [ 9.13737252e-03 2.79971794e-03 9.99954334e-01 1.17871651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48255784399998 meters Centerline goodness : 0.121305 with order 3 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.24, Z:1.18 [[ 9.99956961e-01 6.99610602e-03 -6.09345085e-03 -5.37316077e+00] [-7.01289896e-03 9.99971658e-01 -2.73890783e-03 -2.42921558e-01] [ 6.07411646e-03 2.78152271e-03 9.99977684e-01 1.18001646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.542557844 meters Centerline goodness : 0.125133 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.24, Z:1.18 [[ 9.99959916e-01 7.22777711e-03 -5.28449195e-03 -5.37534279e+00] [-7.24336050e-03 9.99969457e-01 -2.93572272e-03 -2.41022609e-01] [ 5.26311180e-03 2.97388252e-03 9.99981728e-01 1.18027697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602557844 meters Centerline goodness : 0.126779 with order 3 Centerline is valid? [False, False] Translation: X:-5.37, Y:-0.24, Z:1.18 [[ 9.99958749e-01 7.28528330e-03 -5.42452024e-03 -5.37483543e+00] [-7.30079004e-03 9.99969304e-01 -2.84434588e-03 -2.41380707e-01] [ 5.40363186e-03 2.88383183e-03 9.99981242e-01 1.17998712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662557844 meters Centerline goodness : 0.129381 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.24, Z:1.18 [[ 9.99978442e-01 4.73616004e-03 -4.54805756e-03 -5.37870147e+00] [-4.75852138e-03 9.99976582e-01 -4.91850995e-03 -2.44968143e-01] [ 4.52465621e-03 4.94004595e-03 9.99977561e-01 1.18194790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722557844 meters Centerline goodness : 0.127907 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.25, Z:1.18 [[ 9.99979512e-01 4.80519911e-03 -4.22917102e-03 -5.37986404e+00] [-4.82389597e-03 9.99978588e-01 -4.42188547e-03 -2.47636634e-01] [ 4.20783242e-03 4.44219595e-03 9.99981280e-01 1.18264099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782557844 meters Centerline goodness : 0.127002 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.25, Z:1.18 [[ 9.99976678e-01 5.07463751e-03 -4.57077307e-03 -5.37775007e+00] [-5.09224938e-03 9.99979624e-01 -3.84978861e-03 -2.50312192e-01] [ 4.55114365e-03 3.87297434e-03 9.99982143e-01 1.18072070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842557844 meters Centerline goodness : 0.216099 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.25, Z:1.18 [[ 9.99973703e-01 5.04554085e-03 -5.20920373e-03 -5.37517547e+00] [-5.06528283e-03 9.99980013e-01 -3.78361636e-03 -2.51595683e-01] [ 5.19000922e-03 3.80990295e-03 9.99979274e-01 1.17935906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902557844 meters Centerline goodness : 0.126964 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.25, Z:1.18 [[ 9.99972822e-01 5.25113857e-03 -5.17508013e-03 -5.37505900e+00] [-5.26904634e-03 9.99980157e-01 -3.45284813e-03 -2.52675971e-01] [ 5.15684605e-03 3.48002202e-03 9.99980648e-01 1.17905850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962557844 meters Centerline goodness : 0.124995 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.25, Z:1.18 [[ 9.99973174e-01 5.44007179e-03 -4.90470538e-03 -5.37583197e+00] [-5.45482050e-03 9.99980626e-01 -2.99870667e-03 -2.54731325e-01] [ 4.88829718e-03 3.02538051e-03 9.99983476e-01 1.17924880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02255784399998 meters Centerline goodness : 0.118655 with order 2 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.25, Z:1.18 [[ 9.99968997e-01 -3.77172802e-03 -6.91221500e-03 -5.39526840e+00] [ 3.75977660e-03 9.99991416e-01 -1.74120863e-03 -2.54957555e-01] [ 6.91872303e-03 1.71516627e-03 9.99974594e-01 1.17824747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08255784399998 meters Centerline goodness : 0.125423 with order 3 Centerline is valid? [False, False] Translation: X:-5.40, Y:-0.26, Z:1.18 [[ 9.99968738e-01 -4.20531487e-03 -6.69621487e-03 -5.39608566e+00] [ 4.19774193e-03 9.99990534e-01 -1.14458170e-03 -2.59982513e-01] [ 6.70096481e-03 1.11643693e-03 9.99976925e-01 1.17897678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14255784399998 meters Centerline goodness : 0.131374 with order 3 Centerline is valid? [False, False] Translation: X:-5.38, Y:-0.27, Z:1.18 [[ 9.99979778e-01 9.66098580e-04 -6.28579162e-03 -5.37523154e+00] [-9.96362575e-04 9.99987920e-01 -4.81331860e-03 -2.66851378e-01] [ 6.28106554e-03 4.81948419e-03 9.99968660e-01 1.17893858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20255784399998 meters Centerline goodness : 0.126705 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.27, Z:1.18 [[ 9.99948620e-01 2.63688214e-04 -1.01335096e-02 -5.41822688e+00] [-3.00584868e-04 9.99993331e-01 -3.63970329e-03 -2.74870889e-01] [ 1.01324823e-02 3.64256226e-03 9.99942031e-01 1.17981494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26255784399999 meters Centerline goodness : 0.130261 with order 3 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.28, Z:1.18 [[ 9.99918220e-01 -4.35765369e-05 -1.27886860e-02 -5.46175236e+00] [-2.17149257e-07 9.99994137e-01 -3.42438721e-03 -2.77822076e-01] [ 1.27887603e-02 3.42410994e-03 9.99912358e-01 1.18096172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322557844 meters Centerline goodness : 0.234189 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.28, Z:1.18 [[ 9.99930912e-01 6.46204876e-04 -1.17368227e-02 -5.41572102e+00] [-6.97880687e-04 9.99990079e-01 -4.39931720e-03 -2.77631642e-01] [ 1.17338634e-02 4.40720417e-03 9.99921443e-01 1.18060270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382557844 meters Centerline goodness : 0.128186 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.28, Z:1.18 [[ 9.99931271e-01 1.04186635e-03 -1.16776458e-02 -5.41621563e+00] [-1.08347179e-03 9.99993087e-01 -3.55706781e-03 -2.81355560e-01] [ 1.16738591e-02 3.56947574e-03 9.99925487e-01 1.18121078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442557844 meters Centerline goodness : 0.130206 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.28, Z:1.18 [[ 9.99932444e-01 1.24670232e-03 -1.15564903e-02 -5.41697835e+00] [-1.28479599e-03 9.99993764e-01 -3.28946317e-03 -2.82720089e-01] [ 1.15523172e-02 3.30408868e-03 9.99927811e-01 1.18229095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502557844 meters Centerline goodness : 0.135287 with order 2 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.29, Z:1.18 [[ 9.99945842e-01 3.12524046e-03 -9.92701170e-03 -5.42290551e+00] [-3.14078464e-03 9.99993865e-01 -1.55064328e-03 -2.85541030e-01] [ 9.92210467e-03 1.58173791e-03 9.99949524e-01 1.18469690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562557844 meters Centerline goodness : 0.118767 with order 2 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.29, Z:1.18 [[ 9.99936881e-01 3.87287912e-03 -1.05467725e-02 -5.42070173e+00] [-3.88647712e-03 9.99991642e-01 -1.26911332e-03 -2.85123411e-01] [ 1.05417692e-02 1.31002301e-03 9.99943576e-01 1.18335729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622557844 meters Centerline goodness : 0.144321 with order 3 Centerline is valid? [False, False] Translation: X:-5.42, Y:-0.28, Z:1.18 [[ 9.99931170e-01 4.83097019e-03 -1.06919231e-02 -5.42020106e+00] [-4.84338874e-03 9.99987626e-01 -1.13589970e-03 -2.82810976e-01] [ 1.06863033e-02 1.18760665e-03 9.99942195e-01 1.18265558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682557844 meters Centerline goodness : 0.145921 with order 1 Centerline is valid? [False, False] Translation: X:-5.43, Y:-0.28, Z:1.19 [[ 9.99939828e-01 6.34850250e-03 -8.94634855e-03 -5.42762412e+00] [-6.34570107e-03 9.99979808e-01 3.41488165e-04 -2.83465463e-01] [ 8.94833584e-03 -2.84696764e-04 9.99959922e-01 1.18648515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74255784399998 meters Centerline goodness : 0.215336 with order 3 Centerline is valid? [False, False] Translation: X:-5.43, Y:-0.28, Z:1.19 [[ 9.99941429e-01 6.12014294e-03 -8.92647801e-03 -5.42707080e+00] [-6.11914109e-03 9.99981268e-01 1.39541710e-04 -2.83074870e-01] [ 8.92716482e-03 -8.49111590e-05 9.99960148e-01 1.18540899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80255784399998 meters Centerline goodness : 0.151094 with order 1 Centerline is valid? [False, False] Translation: X:-5.45, Y:-0.28, Z:1.19 [[ 9.99919482e-01 -4.64016371e-03 -1.18109286e-02 -5.44640496e+00] [ 4.64202523e-03 9.99989217e-01 1.30200482e-04 -2.83637374e-01] [ 1.18101971e-02 -1.85016627e-04 9.99930240e-01 1.18506217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86255784399998 meters Centerline goodness : 0.123751 with order 3 Centerline is valid? [False, False] Translation: X:-5.45, Y:-0.29, Z:1.19 [[ 9.99910712e-01 -5.04952802e-03 -1.23721933e-02 -5.44529301e+00] [ 5.05680875e-03 9.99987059e-01 5.57262568e-04 -2.87571306e-01] [ 1.23692193e-02 -6.19776626e-04 9.99923306e-01 1.18579162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92255784399998 meters Centerline goodness : 0.136944 with order 2 Centerline is valid? [False, False] Translation: X:-5.44, Y:-0.29, Z:1.19 [[ 9.99907179e-01 -5.02397003e-03 -1.26646611e-02 -5.44437339e+00] [ 5.04204653e-03 9.99986315e-01 1.39579254e-03 -2.93240435e-01] [ 1.26574754e-02 -1.45951879e-03 9.99918826e-01 1.18585947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98255784399998 meters Centerline goodness : 0.217374 with order 3 Centerline is valid? [False, False] Translation: X:-5.45, Y:-0.29, Z:1.19 [[ 9.99915021e-01 -4.84586511e-03 -1.21024078e-02 -5.44574768e+00] [ 4.86226052e-03 9.99987300e-01 1.32566644e-03 -2.92355975e-01] [ 1.20958301e-02 -1.38439885e-03 9.99925884e-01 1.18577394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042557844 meters Centerline goodness : 0.134167 with order 3 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.29, Z:1.18 [[ 9.99873735e-01 5.40656342e-03 -1.49426781e-02 -5.46461426e+00] [-5.38412107e-03 9.99984317e-01 1.54171751e-03 -2.89222926e-01] [ 1.49507791e-02 -1.46106966e-03 9.99887163e-01 1.18440999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.102557844 meters Centerline goodness : 0.148250 with order 1 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.28, Z:1.18 [[ 9.99867474e-01 5.47225539e-03 -1.53326063e-02 -5.46330240e+00] [-5.46166833e-03 9.99984817e-01 7.32281762e-04 -2.84354501e-01] [ 1.53363807e-02 -6.48443105e-04 9.99882181e-01 1.18349717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.162557844 meters Centerline goodness : 0.126557 with order 3 Centerline is valid? [False, False] Translation: X:-5.46, Y:-0.28, Z:1.18 [[ 9.99867829e-01 5.18554989e-03 -1.54088980e-02 -5.46283616e+00] [-5.18610782e-03 9.99986552e-01 3.75032284e-06 -2.80941404e-01] [ 1.54087102e-02 7.61623791e-05 9.99881276e-01 1.18289634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222557844 meters Centerline goodness : 0.127040 with order 3 Centerline is valid? [False, False] Translation: X:-5.47, Y:-0.28, Z:1.19 [[ 9.99903830e-01 3.88023199e-03 -1.33144206e-02 -5.46984463e+00] [-3.89602925e-03 9.99991737e-01 -1.16074462e-03 -2.78107839e-01] [ 1.33098066e-02 1.21250636e-03 9.99910685e-01 1.18561800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282557844 meters Centerline goodness : 0.118729 with order 2 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.28, Z:1.19 [[ 9.99874647e-01 2.19807662e-03 -1.56798686e-02 -5.51488449e+00] [-2.20918445e-03 9.99997321e-01 -6.91127771e-04 -2.81102401e-01] [ 1.56783075e-02 7.25680858e-04 9.99876824e-01 1.18629709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342557844 meters Centerline goodness : 0.123062 with order 3 Centerline is valid? [False, False] Translation: X:-5.51, Y:-0.28, Z:1.19 [[ 9.99861614e-01 1.85350330e-03 -1.65323176e-02 -5.51209618e+00] [-1.87258315e-03 9.99997598e-01 -1.13868849e-03 -2.79838777e-01] [ 1.65301673e-02 1.16948905e-03 9.99862684e-01 1.18516496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402557844 meters Centerline goodness : 0.119256 with order 2 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.28, Z:1.19 [[ 9.99820255e-01 2.05269657e-03 -1.88479162e-02 -5.55738857e+00] [-2.05499281e-03 9.99997883e-01 -1.02462992e-04 -2.78275091e-01] [ 1.88476659e-02 1.41176907e-04 9.99822357e-01 1.18529818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462557844 meters Centerline goodness : 0.124599 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.28, Z:1.19 [[ 9.99816595e-01 1.80203271e-03 -1.90664440e-02 -5.55673154e+00] [-1.81439615e-03 9.99998155e-01 -6.31161082e-04 -2.76122686e-01] [ 1.90652715e-02 6.65639407e-04 9.99818020e-01 1.18507970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52255784399998 meters Centerline goodness : 0.126828 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.27, Z:1.18 [[ 9.99821565e-01 1.81325715e-03 -1.88029553e-02 -5.55728477e+00] [-1.82879032e-03 9.99998001e-01 -8.08940465e-04 -2.74085400e-01] [ 1.88014509e-02 8.43182784e-04 9.99822882e-01 1.18488480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58255784399998 meters Centerline goodness : 0.132825 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.27, Z:1.19 [[ 9.99837983e-01 1.29959185e-03 -1.79532277e-02 -5.56025160e+00] [-1.31957463e-03 9.99998523e-01 -1.10124523e-03 -2.74490466e-01] [ 1.79517700e-02 1.12475743e-03 9.99838221e-01 1.18631217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64255784399998 meters Centerline goodness : 0.202056 with order 3 Centerline is valid? [False, False] Translation: X:-5.56, Y:-0.27, Z:1.19 [[ 9.99830586e-01 1.24327646e-03 -1.83644842e-02 -5.55902163e+00] [-1.26445369e-03 9.99998549e-01 -1.14159570e-03 -2.74358444e-01] [ 1.83630382e-02 1.16462334e-03 9.99830707e-01 1.18599393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70255784399998 meters Centerline goodness : 0.211627 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99734631e-01 -4.16952514e-04 -2.30324383e-02 -5.59675871e+00] [ 3.68445879e-04 9.99997706e-01 -2.11021741e-03 -2.73614616e-01] [ 2.30332653e-02 2.10117121e-03 9.99732491e-01 1.18340868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76255784399999 meters Centerline goodness : 0.239514 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99747353e-01 -4.46784741e-04 -2.24728900e-02 -5.59833657e+00] [ 3.89477123e-04 9.99996662e-01 -2.55439003e-03 -2.71017997e-01] [ 2.24739563e-02 2.54499199e-03 9.99744189e-01 1.18361173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822557844 meters Centerline goodness : 0.241831 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99757932e-01 -5.14987806e-04 -2.19957225e-02 -5.60007865e+00] [ 4.48873841e-04 9.99995367e-01 -3.01059615e-03 -2.68111749e-01] [ 2.19971710e-02 2.99999407e-03 9.99753532e-01 1.18437359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882557844 meters Centerline goodness : 0.243322 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99754144e-01 -6.14710249e-04 -2.21646855e-02 -5.59931044e+00] [ 5.46377100e-04 9.99995080e-01 -3.08889809e-03 -2.67919785e-01] [ 2.21664753e-02 3.07602839e-03 9.99749561e-01 1.18370611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942557844 meters Centerline goodness : 0.142620 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.19 [[ 9.99780753e-01 -1.14564273e-03 -2.09077187e-02 -5.60317253e+00] [ 1.07993497e-03 9.99994444e-01 -3.15377124e-03 -2.69013458e-01] [ 2.09112156e-02 3.13050081e-03 9.99776436e-01 1.18519724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002557844 meters Centerline goodness : 0.133724 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.19 [[ 9.99788516e-01 -1.30438678e-03 -2.05236726e-02 -5.60480511e+00] [ 1.24580640e-03 9.99995115e-01 -2.86681008e-03 -2.71270944e-01] [ 2.05273118e-02 2.84063527e-03 9.99785257e-01 1.18645404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062557844 meters Centerline goodness : 0.133450 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.27, Z:1.19 [[ 9.99800138e-01 -9.59405551e-04 -1.99690452e-02 -5.60691081e+00] [ 9.12551045e-04 9.99996810e-01 -2.35533687e-03 -2.72528189e-01] [ 1.99712412e-02 2.33664335e-03 9.99797824e-01 1.18761075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122557844 meters Centerline goodness : 0.125971 with order 3 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.28, Z:1.19 [[ 9.99773841e-01 6.86603014e-03 -2.01277152e-02 -5.62686422e+00] [-6.93343964e-03 9.99970580e-01 -3.28121900e-03 -2.79194065e-01] [ 2.01045941e-02 3.42003122e-03 9.99792033e-01 1.18572990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182557844 meters Centerline goodness : 0.138570 with order 3 Centerline is valid? [False, False] Translation: X:-5.63, Y:-0.28, Z:1.19 [[ 9.99768528e-01 6.94468153e-03 -2.03632421e-02 -5.62606653e+00] [-7.01054278e-03 9.99970418e-01 -3.16471922e-03 -2.79829455e-01] [ 2.03406618e-02 3.30674406e-03 9.99787639e-01 1.18551979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24255784399998 meters Centerline goodness : 0.123027 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.28, Z:1.18 [[ 9.99753287e-01 7.46753889e-03 -2.09189104e-02 -5.62399205e+00] [-7.52850797e-03 9.99967635e-01 -2.83730761e-03 -2.80739829e-01] [ 2.08970456e-02 2.99409579e-03 9.99777150e-01 1.18474164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30255784399998 meters Centerline goodness : 0.121706 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.28, Z:1.18 [[ 9.99745840e-01 7.44342528e-03 -2.12802753e-02 -5.62258283e+00] [-7.50903208e-03 9.99967292e-01 -3.00474325e-03 -2.80335389e-01] [ 2.12572137e-02 3.16377384e-03 9.99769034e-01 1.18413010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36255784399998 meters Centerline goodness : 0.116659 with order 2 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.28, Z:1.18 [[ 9.99693274e-01 1.07394639e-02 -2.23164194e-02 -5.61789546e+00] [-1.07447990e-02 9.99942266e-01 -1.19165861e-04 -2.77717331e-01] [ 2.23138512e-02 3.58914749e-04 9.99750951e-01 1.18173251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42255784399998 meters Centerline goodness : 0.134094 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99758977e-01 3.44259354e-03 -2.16826426e-02 -5.59992118e+00] [-3.41769769e-03 9.99993457e-01 1.18514514e-03 -2.71117918e-01] [ 2.16865807e-02 -1.11075478e-03 9.99764201e-01 1.18308952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48255784399998 meters Centerline goodness : 0.127207 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99791876e-01 6.03697155e-04 -2.03921659e-02 -5.60473401e+00] [-6.36540801e-04 9.99998511e-01 -1.60414865e-03 -2.72638562e-01] [ 2.03911671e-02 1.61679523e-03 9.99790771e-01 1.18469172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542557844 meters Centerline goodness : 0.124608 with order 3 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.27, Z:1.19 [[ 9.99789590e-01 -6.85427883e-03 -1.93337786e-02 -5.58583729e+00] [ 6.84430680e-03 9.99976408e-01 -5.81905665e-04 -2.65731809e-01] [ 1.93373110e-02 4.49456914e-04 9.99812916e-01 1.18624690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602557844 meters Centerline goodness : 0.125382 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99782692e-01 2.05890438e-04 -2.08452871e-02 -5.60354728e+00] [-2.60298766e-04 9.99996567e-01 -2.60742245e-03 -2.69948222e-01] [ 2.08446787e-02 2.61228184e-03 9.99779313e-01 1.18381500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662557844 meters Centerline goodness : 0.127267 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.27, Z:1.18 [[ 9.99780530e-01 6.63088790e-05 -2.09496358e-02 -5.60291801e+00] [-1.29975809e-04 9.99995378e-01 -3.03770009e-03 -2.67694207e-01] [ 2.09493376e-02 3.03975635e-03 9.99775917e-01 1.18307992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722557844 meters Centerline goodness : 0.188181 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.26, Z:1.18 [[ 9.99780845e-01 -2.25638177e-04 -2.09335118e-02 -5.60267080e+00] [ 1.44052941e-04 9.99992389e-01 -3.89877670e-03 -2.63346062e-01] [ 2.09342322e-02 3.89490673e-03 9.99773268e-01 1.18244101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782557844 meters Centerline goodness : 0.126339 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.26, Z:1.18 [[ 9.99780046e-01 -4.02993108e-04 -2.09689716e-02 -5.60253309e+00] [ 3.12383766e-04 9.99990602e-01 -4.32421138e-03 -2.61242840e-01] [ 2.09705171e-02 4.31670989e-03 9.99770775e-01 1.18227640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842557844 meters Centerline goodness : 0.131421 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.26, Z:1.18 [[ 9.99793840e-01 -5.25303168e-04 -2.02978167e-02 -5.60484666e+00] [ 4.37348416e-04 9.99990498e-01 -4.33740860e-03 -2.61229268e-01] [ 2.02999023e-02 4.32763718e-03 9.99784570e-01 1.18339410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902557844 meters Centerline goodness : 0.134540 with order 3 Centerline is valid? [False, False] Translation: X:-5.59, Y:-0.26, Z:1.18 [[ 9.99795486e-01 -9.86145880e-03 -1.76560740e-02 -5.58518468e+00] [ 9.78067286e-03 9.99941328e-01 -4.65605377e-03 -2.57643016e-01] [ 1.77009535e-02 4.48241326e-03 9.99833278e-01 1.18399259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962557844 meters Centerline goodness : 0.136071 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.26, Z:1.18 [[ 9.99827563e-01 -1.79494797e-03 -1.84830235e-02 -5.60454570e+00] [ 1.69983141e-03 9.99985239e-01 -5.16058307e-03 -2.63217162e-01] [ 1.84920137e-02 5.12827517e-03 9.99815856e-01 1.18256488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02255784399998 meters Centerline goodness : 0.134450 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.26, Z:1.18 [[ 9.99840129e-01 -1.81094875e-03 -1.77886494e-02 -5.60653600e+00] [ 1.71327662e-03 9.99983383e-01 -5.50440526e-03 -2.61227127e-01] [ 1.77983220e-02 5.47304839e-03 9.99826618e-01 1.18293241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08255784399998 meters Centerline goodness : 0.135434 with order 3 Centerline is valid? [False, False] Translation: X:-5.61, Y:-0.26, Z:1.18 [[ 9.99842595e-01 -1.97351344e-03 -1.76320952e-02 -5.60692691e+00] [ 1.86644260e-03 9.99979733e-01 -6.08689007e-03 -2.58297756e-01] [ 1.76437504e-02 6.05302267e-03 9.99826014e-01 1.18285229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14255784399998 meters Centerline goodness : 0.133864 with order 3 Centerline is valid? [False, False] Translation: X:-5.60, Y:-0.25, Z:1.18 [[ 9.99811720e-01 1.63328407e-04 -1.94035518e-02 -5.59909782e+00] [-2.49828911e-04 9.99990042e-01 -4.45563236e-03 -2.53504149e-01] [ 1.94026308e-02 4.45964102e-03 9.99801805e-01 1.17869594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20255784399998 meters Centerline goodness : 0.137473 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.26, Z:1.18 [[ 9.99838484e-01 3.53378492e-03 -1.76215349e-02 -5.61958972e+00] [-3.68878408e-03 9.99954728e-01 -8.77127554e-03 -2.58030650e-01] [ 1.75897414e-02 8.83486088e-03 9.99806254e-01 1.17735551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26255784399999 meters Centerline goodness : 0.136160 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.26, Z:1.18 [[ 9.99863416e-01 2.88308603e-03 -1.62738413e-02 -5.62351676e+00] [-3.01955176e-03 9.99960435e-01 -8.36725425e-03 -2.61197321e-01] [ 1.62490739e-02 8.41525112e-03 9.99832562e-01 1.17832973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.322557844 meters Centerline goodness : 0.139456 with order 3 Centerline is valid? [False, False] Translation: X:-5.62, Y:-0.26, Z:1.18 [[ 9.99866627e-01 1.99493197e-03 -1.62094923e-02 -5.62338192e+00] [-2.13440500e-03 9.99960813e-01 -8.59166556e-03 -2.63048739e-01] [ 1.61917173e-02 8.62511729e-03 9.99831704e-01 1.17815867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382557844 meters Centerline goodness : 0.134525 with order 3 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.27, Z:1.18 [[ 0.99984371 -0.00651506 -0.0164353 -5.68214363] [ 0.0063624 0.99993629 -0.00932406 -0.27009741] [ 0.016495 0.00921803 0.99982146 1.17802081] [ 0. 0. 0. 1. ]] SLAMing on 154.442557844 meters Centerline goodness : 0.138802 with order 2 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.27, Z:1.18 [[ 0.99985119 -0.00684555 -0.01583484 -5.68350256] [ 0.00670763 0.99993925 -0.00874663 -0.27254668] [ 0.01589376 0.00863912 0.99983636 1.17693427] [ 0. 0. 0. 1. ]] SLAMing on 154.502557844 meters Centerline goodness : 0.135420 with order 3 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.27, Z:1.18 [[ 0.99983515 -0.00693162 -0.01678176 -5.68049078] [ 0.00678962 0.99994079 -0.00850436 -0.27379591] [ 0.01683972 0.00838902 0.99982301 1.175556 ] [ 0. 0. 0. 1. ]] SLAMing on 154.562557844 meters Centerline goodness : 0.139910 with order 3 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.28, Z:1.18 [[ 0.99984251 -0.00682764 -0.01638097 -5.68178809] [ 0.00669884 0.99994632 -0.00790516 -0.27592075] [ 0.01643407 0.00779418 0.99983457 1.17558803] [ 0. 0. 0. 1. ]] SLAMing on 154.622557844 meters Centerline goodness : 0.145022 with order 2 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.29, Z:1.18 [[ 9.99888101e-01 -1.06985873e-05 -1.49594306e-02 -5.66947985e+00] [-1.19310558e-04 9.99962235e-01 -8.68986221e-03 -2.86018323e-01] [ 1.49589586e-02 8.69067465e-03 9.99850340e-01 1.17747449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682557844 meters Centerline goodness : 0.193321 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.29, Z:1.18 [[ 9.99871418e-01 -6.84055804e-04 -1.60212509e-02 -5.66600598e+00] [ 5.45791366e-04 9.99962587e-01 -8.63284810e-03 -2.88656423e-01] [ 1.60265568e-02 8.62299381e-03 9.99834383e-01 1.17620760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74255784399998 meters Centerline goodness : 0.184417 with order 3 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.29, Z:1.18 [[ 9.99874523e-01 -5.98329519e-04 -1.58297267e-02 -5.66679562e+00] [ 4.66233432e-04 9.99965053e-01 -8.34718633e-03 -2.89775428e-01] [ 1.58341679e-02 8.33875860e-03 9.99839859e-01 1.17666906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80255784399998 meters Centerline goodness : 0.154938 with order 2 Centerline is valid? [False, False] Translation: X:-5.67, Y:-0.29, Z:1.18 [[ 9.99874425e-01 -5.63588549e-04 -1.58372187e-02 -5.66690640e+00] [ 4.33148461e-04 9.99965969e-01 -8.23852367e-03 -2.90096961e-01] [ 1.58413229e-02 8.23062924e-03 9.99840642e-01 1.17683808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86255784399998 meters Centerline goodness : 0.179158 with order 3 Centerline is valid? [False, False] Translation: X:-5.64, Y:-0.29, Z:1.18 [[ 0.9998054 -0.00880367 -0.01765374 -5.64318079] [ 0.00865945 0.99992864 -0.00822925 -0.28624158] [ 0.01772492 0.00807478 0.99981029 1.1767389 ] [ 0. 0. 0. 1. ]] SLAMing on 154.92255784399998 meters Centerline goodness : 0.142745 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.29, Z:1.18 [[ 0.99982793 -0.009495 -0.01593574 -5.64821544] [ 0.00937077 0.99992526 -0.00785235 -0.28750183] [ 0.0160091 0.00770167 0.99984218 1.17634726] [ 0. 0. 0. 1. ]] SLAMing on 154.98255784399998 meters Centerline goodness : 0.199373 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.29, Z:1.18 [[ 0.9998219 -0.00984562 -0.01610086 -5.64790787] [ 0.00972157 0.9999226 -0.00776466 -0.28747613] [ 0.01617606 0.00760675 0.99984022 1.17665138] [ 0. 0. 0. 1. ]] SLAMing on 155.042557844 meters Centerline goodness : 0.198194 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.29, Z:1.18 [[ 0.9998184 -0.0099528 -0.0162515 -5.64755337] [ 0.00982959 0.99992247 -0.00764419 -0.28720318] [ 0.01632632 0.00748306 0.99983871 1.1766663 ] [ 0. 0. 0. 1. ]] SLAMing on 155.102557844 meters Centerline goodness : 0.177868 with order 3 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.29, Z:1.18 [[ 0.99982484 -0.01059779 -0.0154263 -5.6501249 ] [ 0.01048095 0.99991592 -0.00763543 -0.28692448] [ 0.01550592 0.00747241 0.99985185 1.17759505] [ 0. 0. 0. 1. ]] SLAMing on 155.162557844 meters Centerline goodness : 0.142619 with order 2 Centerline is valid? [False, False] Translation: X:-5.65, Y:-0.29, Z:1.18 [[ 0.99982074 -0.01088147 -0.01549484 -5.64968871] [ 0.01076526 0.99991344 -0.00756389 -0.28637747] [ 0.01557581 0.00739572 0.99985134 1.17721829] [ 0. 0. 0. 1. ]] SLAMing on 155.222557844 meters Centerline goodness : 0.151498 with order 2 Centerline is valid? [False, False] Translation: X:-5.68, Y:-0.28, Z:1.17 [[ 0.99975536 -0.01209848 -0.01851632 -5.68364613] [ 0.01195845 0.99989919 -0.007655 -0.28320653] [ 0.01860707 0.0074317 0.99979925 1.17240542] [ 0. 0. 0. 1. ]] SLAMing on 155.282557844 meters Centerline goodness : 0.145908 with order 3 Centerline is valid? [False, False] Translation: X:-5.70, Y:-0.28, Z:1.17 [[ 9.99794059e-01 -4.02792124e-03 -1.98900593e-02 -5.70395051e+00] [ 3.86072180e-03 9.99956951e-01 -8.43743658e-03 -2.84433652e-01] [ 1.99231883e-02 8.35890898e-03 9.99766570e-01 1.17160392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342557844 meters Centerline goodness : 0.239112 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.28, Z:1.17 [[ 9.99808905e-01 -8.90728727e-04 -1.95284347e-02 -5.70549414e+00] [ 7.89139159e-04 9.99986121e-01 -5.20922475e-03 -2.82283730e-01] [ 1.95328037e-02 5.19281864e-03 9.99795731e-01 1.17271873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402557844 meters Centerline goodness : 0.163490 with order 2 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.28, Z:1.17 [[ 9.99810684e-01 -1.14814689e-03 -1.94236582e-02 -5.70555891e+00] [ 1.04031204e-03 9.99983997e-01 -5.56092060e-03 -2.80560493e-01] [ 1.94297321e-02 5.53966116e-03 9.99795878e-01 1.17243154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462557844 meters Centerline goodness : 0.222174 with order 3 Centerline is valid? [False, False] Translation: X:-5.71, Y:-0.28, Z:1.17 [[ 9.99811642e-01 1.69185450e-03 -1.93343824e-02 -5.70581426e+00] [-1.73529324e-03 9.99996008e-01 -2.23015318e-03 -2.79977745e-01] [ 1.93305321e-02 2.26328394e-03 9.99810586e-01 1.17239824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52255784399998 meters Centerline goodness : 0.242023 with order 3 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.28, Z:1.17 [[ 9.99727180e-01 7.67109003e-05 -2.33572265e-02 -5.74639931e+00] [-1.44677330e-04 9.99995761e-01 -2.90819136e-03 -2.78042088e-01] [ 2.33569044e-02 2.91077721e-03 9.99722953e-01 1.17125577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58255784399998 meters Centerline goodness : 0.248307 with order 3 Centerline is valid? [False, False] Translation: X:-5.75, Y:-0.27, Z:1.17 [[ 9.99753346e-01 2.03119451e-03 -2.21160814e-02 -5.75203771e+00] [-2.06297677e-03 9.99996872e-01 -1.41434511e-03 -2.73376021e-01] [ 2.21131394e-02 1.45962122e-03 9.99754409e-01 1.17414424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64255784399998 meters Centerline goodness : 0.114291 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:-0.27, Z:1.18 [[ 9.99774931e-01 3.80101251e-03 -2.08719777e-02 -5.75767472e+00] [-3.80386083e-03 9.99992761e-01 -9.67662021e-05 -2.68732670e-01] [ 2.08714588e-02 1.76138521e-04 9.99782152e-01 1.17696291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70255784399998 meters Centerline goodness : 0.169331 with order 3 Centerline is valid? [False, False] Translation: X:-5.77, Y:-0.26, Z:1.17 [[ 9.99750199e-01 -3.93105736e-03 -2.20019720e-02 -5.77457961e+00] [ 3.96639153e-03 9.99990913e-01 1.56254572e-03 -2.58032545e-01] [ 2.19956296e-02 -1.64942383e-03 9.99756706e-01 1.17422889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76255784399999 meters Centerline goodness : 0.113681 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:-0.26, Z:1.17 [[ 9.99760909e-01 -4.13342378e-03 -2.14718276e-02 -5.77633655e+00] [ 4.16092692e-03 9.99990579e-01 1.23637527e-03 -2.56500159e-01] [ 2.14665148e-02 -1.32542237e-03 9.99768689e-01 1.17481099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.822557844 meters Centerline goodness : 0.163048 with order 2 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.25, Z:1.18 [[ 9.99668285e-01 -6.43780332e-03 -2.49374132e-02 -5.81964362e+00] [ 6.44958506e-03 9.99979124e-01 3.92049855e-04 -2.54064663e-01] [ 2.49343687e-02 -5.52755775e-04 9.99688937e-01 1.17502919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882557844 meters Centerline goodness : 0.120311 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.25, Z:1.17 [[ 9.99634864e-01 -7.35085198e-03 -2.60019865e-02 -5.81616534e+00] [ 7.34536242e-03 9.99972975e-01 -3.06628903e-04 -2.52559483e-01] [ 2.60035378e-02 1.15522927e-04 9.99661844e-01 1.17358313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942557844 meters Centerline goodness : 0.143842 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.25, Z:1.17 [[ 9.99666738e-01 -5.20014575e-03 -2.52858035e-02 -5.81935085e+00] [ 5.23917036e-03 9.99985184e-01 1.47733636e-03 -2.47288599e-01] [ 2.52777465e-02 -1.60932065e-03 9.99679171e-01 1.17497373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002557844 meters Centerline goodness : 0.224079 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.24, Z:1.18 [[ 9.99664722e-01 -5.42288010e-03 -2.53186882e-02 -5.81922861e+00] [ 5.44410352e-03 9.99984885e-01 7.69396120e-04 -2.43702575e-01] [ 2.53141332e-02 -9.06975718e-04 9.99679135e-01 1.17504504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062557844 meters Centerline goodness : 0.193833 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.24, Z:1.17 [[ 9.99669856e-01 -5.59031288e-03 -2.50784131e-02 -5.81955172e+00] [ 5.59118176e-03 9.99984369e-01 -3.54737337e-05 -2.39717226e-01] [ 2.50782194e-02 -1.04755944e-04 9.99685487e-01 1.17464684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122557844 meters Centerline goodness : 0.117829 with order 2 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.24, Z:1.17 [[ 9.99647557e-01 -5.55882507e-03 -2.59588240e-02 -5.81639342e+00] [ 5.54939055e-03 9.99984507e-01 -4.35468023e-04 -2.37031862e-01] [ 2.59608426e-02 2.91258892e-04 9.99662918e-01 1.17312304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182557844 meters Centerline goodness : 0.225443 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.23, Z:1.17 [[ 9.99635173e-01 -5.68972649e-03 -2.64035461e-02 -5.81500067e+00] [ 5.66742381e-03 9.99983517e-01 -9.19442093e-04 -2.34450472e-01] [ 2.64083423e-02 7.69466570e-04 9.99650943e-01 1.17271725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24255784399998 meters Centerline goodness : 0.221008 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.23, Z:1.18 [[ 9.99670832e-01 -3.51066833e-03 -2.54146134e-02 -5.82016488e+00] [ 3.53137478e-03 9.99993468e-01 7.69910126e-04 -2.30270879e-01] [ 2.54117445e-02 -8.59405221e-04 9.99676700e-01 1.17564018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30255784399998 meters Centerline goodness : 0.129232 with order 3 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.23, Z:1.18 [[ 9.99668780e-01 -3.60631863e-03 -2.54818501e-02 -5.82012902e+00] [ 3.61665336e-03 9.99993395e-01 3.59496519e-04 -2.28274585e-01] [ 2.54803853e-02 -4.51536465e-04 9.99675220e-01 1.17593110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36255784399998 meters Centerline goodness : 0.199531 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:-0.23, Z:1.17 [[ 9.99661201e-01 2.90960278e-04 -2.60268845e-02 -5.81794807e+00] [-1.88962364e-04 9.99992294e-01 3.92131807e-03 -2.26379833e-01] [ 2.60278249e-02 -3.91507142e-03 9.99653552e-01 1.17464139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42255784399998 meters Centerline goodness : 0.206697 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:-0.22, Z:1.18 [[ 9.99581342e-01 -1.39738943e-04 -2.89330521e-02 -5.86395149e+00] [ 2.44857706e-04 9.99993383e-01 3.62966118e-03 -2.23763425e-01] [ 2.89323534e-02 -3.63522608e-03 9.99574762e-01 1.17580577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48255784399998 meters Centerline goodness : 0.402712 with order 3 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.22, Z:1.18 [[ 0.99956869 -0.00630656 -0.0286819 -5.88750454] [ 0.00650267 0.99995608 0.00674928 -0.22011777] [ 0.02863808 -0.00693288 0.9995658 1.17672328] [ 0. 0. 0. 1. ]] SLAMing on 156.542557844 meters Centerline goodness : 0.141417 with order 3 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.22, Z:1.18 [[ 0.99956299 -0.0063619 -0.02886789 -5.88677498] [ 0.00655701 0.99995626 0.00666901 -0.21994046] [ 0.0288242 -0.00685538 0.99956099 1.17628598] [ 0. 0. 0. 1. ]] SLAMing on 156.602557844 meters Centerline goodness : 0.206905 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.22, Z:1.18 [[ 0.99956987 -0.00630843 -0.02864047 -5.8875059 ] [ 0.00651055 0.99995452 0.00696942 -0.22134936] [ 0.0285952 -0.00715288 0.99956548 1.17645026] [ 0. 0. 0. 1. ]] SLAMing on 156.662557844 meters Centerline goodness : 0.302868 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.22, Z:1.18 [[ 0.99957232 -0.00632647 -0.02855072 -5.88781457] [ 0.00654229 0.99995068 0.00747235 -0.22428646] [ 0.02850203 -0.00765595 0.99956442 1.17648774] [ 0. 0. 0. 1. ]] SLAMing on 156.722557844 meters Centerline goodness : 0.150639 with order 2 Centerline is valid? [False, False] Translation: X:-5.89, Y:-0.23, Z:1.18 [[ 0.99957827 -0.00620687 -0.02836814 -5.88919352] [ 0.00643117 0.99994873 0.00782213 -0.22526672] [ 0.02831813 -0.00800127 0.99956694 1.17786145] [ 0. 0. 0. 1. ]] SLAMing on 156.782557844 meters Centerline goodness : 0.198320 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.22, Z:1.18 [[ 0.9995001 -0.0068761 -0.03085881 -5.93471801] [ 0.00712216 0.99994366 0.00787093 -0.22475099] [ 0.03080295 -0.00808678 0.99949276 1.17784547] [ 0. 0. 0. 1. ]] SLAMing on 156.842557844 meters Centerline goodness : 0.095504 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.23, Z:1.18 [[ 0.9995016 -0.0068505 -0.03081581 -5.93491682] [ 0.00710523 0.99994143 0.00816444 -0.22633069] [ 0.03075808 -0.00837933 0.99949173 1.17792255] [ 0. 0. 0. 1. ]] SLAMing on 156.902557844 meters Centerline goodness : 0.228074 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.23, Z:1.18 [[ 0.99951392 -0.00696674 -0.0303873 -5.93684807] [ 0.0072276 0.9999379 0.0084833 -0.2284749 ] [ 0.03032631 -0.0086988 0.9995022 1.17917382] [ 0. 0. 0. 1. ]] SLAMing on 156.962557844 meters Centerline goodness : 0.086912 with order 1 Centerline is valid? [False, False] Translation: X:-5.94, Y:-0.23, Z:1.18 [[ 0.99951528 -0.00696459 -0.03034312 -5.93709288] [ 0.00722854 0.99993691 0.00859771 -0.22915911] [ 0.03028133 -0.00881288 0.99950256 1.17934232] [ 0. 0. 0. 1. ]] SLAMing on 157.02255784399998 meters Centerline goodness : 0.127842 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.23, Z:1.18 [[ 0.99948564 -0.0072348 -0.03124293 -5.93425732] [ 0.00750954 0.99993408 0.00868557 -0.23004112] [ 0.03117803 -0.00891573 0.99947408 1.17827263] [ 0. 0. 0. 1. ]] SLAMing on 157.08255784399998 meters Centerline goodness : 0.158311 with order 3 Centerline is valid? [False, False] Translation: X:-5.93, Y:-0.23, Z:1.18 [[ 0.99948275 -0.00730855 -0.03131804 -5.93390768] [ 0.00758862 0.99993219 0.00883312 -0.23106078] [ 0.03125136 -0.00906621 0.99947044 1.17794426] [ 0. 0. 0. 1. ]] SLAMing on 157.14255784399998 meters Centerline goodness : 0.144074 with order 3 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.23, Z:1.18 [[ 9.99485122e-01 6.22537208e-04 -3.20796316e-02 -5.95455807e+00] [-3.79854668e-04 9.99971271e-01 7.57054309e-03 -2.34333916e-01] [ 3.20834229e-02 -7.55445959e-03 9.99456644e-01 1.17637240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20255784399998 meters Centerline goodness : 0.109765 with order 2 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.23, Z:1.18 [[ 9.99463090e-01 7.04430396e-04 -3.27572351e-02 -5.95219039e+00] [-4.60771133e-04 9.99972177e-01 7.44528821e-03 -2.32791396e-01] [ 3.27615684e-02 -7.42619717e-03 9.99435606e-01 1.17532367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26255784399999 meters Centerline goodness : 0.142373 with order 3 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.23, Z:1.18 [[ 9.99465427e-01 5.34519502e-04 -3.26890661e-02 -5.95234966e+00] [-3.03346942e-04 9.99974916e-01 7.07641242e-03 -2.31322438e-01] [ 3.26920286e-02 -7.06271343e-03 9.99440518e-01 1.17535726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322557844 meters Centerline goodness : 0.122906 with order 2 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.23, Z:1.18 [[ 9.99460619e-01 3.35808046e-04 -3.28383517e-02 -5.95188036e+00] [-1.21747737e-04 9.99978735e-01 6.52038929e-03 -2.28621012e-01] [ 3.28398430e-02 -6.51287433e-03 9.99439406e-01 1.17522988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382557844 meters Centerline goodness : 0.108995 with order 2 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.23, Z:1.18 [[ 9.99455380e-01 1.94996319e-04 -3.29985710e-02 -5.95141827e+00] [ 7.01399215e-06 9.99981263e-01 6.12156319e-03 -2.26627062e-01] [ 3.29991463e-02 -6.11846071e-03 9.99436652e-01 1.17517634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442557844 meters Centerline goodness : 0.177657 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:-0.23, Z:1.18 [[ 9.99452155e-01 -5.48978095e-05 -3.30966414e-02 -5.95145792e+00] [ 2.50917426e-04 9.99982454e-01 5.91851945e-03 -2.25872911e-01] [ 3.30957358e-02 -5.92358154e-03 9.99434632e-01 1.17555534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502557844 meters Centerline goodness : 0.149098 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.22, Z:1.17 [[ 9.99334036e-01 -1.09073330e-03 -3.64731946e-02 -5.99378917e+00] [ 1.29206783e-03 9.99984057e-01 5.49695336e-03 -2.23829747e-01] [ 3.64666174e-02 -5.54041843e-03 9.99319513e-01 1.17411573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562557844 meters Centerline goodness : 0.119411 with order 2 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.22, Z:1.17 [[ 9.99344555e-01 -1.14234388e-03 -3.61822513e-02 -5.99491972e+00] [ 1.33130549e-03 9.99985600e-01 5.19883261e-03 -2.22162029e-01] [ 3.61757914e-02 -5.24359469e-03 9.99331685e-01 1.17483502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622557844 meters Centerline goodness : 0.157020 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.22, Z:1.18 [[ 9.99414172e-01 7.52589305e-03 -3.33867442e-02 -5.97541380e+00] [-7.39760859e-03 9.99964779e-01 3.96424169e-03 -2.20757593e-01] [ 3.34154028e-02 -3.71493725e-03 9.99434645e-01 1.17577988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682557844 meters Centerline goodness : 0.175981 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.21, Z:1.18 [[ 9.99399605e-01 1.00266902e-02 -3.31646678e-02 -5.97781964e+00] [-9.86076128e-03 9.99938053e-01 5.16296837e-03 -2.11090296e-01] [ 3.32143808e-02 -4.83283968e-03 9.99436566e-01 1.17796943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74255784399998 meters Centerline goodness : 0.154484 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.21, Z:1.18 [[ 9.99412276e-01 9.57734958e-03 -3.29146799e-02 -5.97854172e+00] [-9.45053070e-03 9.99947317e-01 4.00637710e-03 -2.05321540e-01] [ 3.29513163e-02 -3.69296127e-03 9.99450135e-01 1.17823871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80255784399998 meters Centerline goodness : 0.167130 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.19, Z:1.18 [[ 9.99485099e-01 6.98865132e-04 -3.20787772e-02 -5.99927488e+00] [-5.72299461e-04 9.99992017e-01 3.95447649e-03 -1.92817642e-01] [ 3.20812848e-02 -3.93408166e-03 9.99477521e-01 1.17605687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86255784399998 meters Centerline goodness : 0.116868 with order 2 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.19, Z:1.17 [[ 9.99447614e-01 8.71005338e-05 -3.32333923e-02 -5.99580000e+00] [ 2.87136583e-05 9.99993929e-01 3.48438104e-03 -1.91499235e-01] [ 3.32334941e-02 -3.48341057e-03 9.99441544e-01 1.17496462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92255784399998 meters Centerline goodness : 0.150340 with order 3 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.19, Z:1.17 [[ 9.99412761e-01 -6.79695250e-04 -3.42588816e-02 -5.99257479e+00] [ 7.81709988e-04 9.99995300e-01 2.96445408e-03 -1.90513838e-01] [ 3.42567057e-02 -2.98949375e-03 9.99408596e-01 1.17383575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98255784399998 meters Centerline goodness : 0.168151 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.19, Z:1.17 [[ 9.99420427e-01 -7.65269942e-04 -3.40326892e-02 -5.99340822e+00] [ 8.58776372e-04 9.99995897e-01 2.73301492e-03 -1.89353636e-01] [ 3.40304580e-02 -2.76065740e-03 9.99416983e-01 1.17432188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042557844 meters Centerline goodness : 0.191893 with order 3 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.19, Z:1.18 [[ 9.99409408e-01 7.49257605e-03 -3.35364820e-02 -5.97329029e+00] [-7.46374092e-03 9.99971661e-01 9.84921808e-04 -1.89591985e-01] [ 3.35429112e-02 -7.34032508e-04 9.99437009e-01 1.17623320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102557844 meters Centerline goodness : 0.110940 with order 2 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.18, Z:1.18 [[ 9.99448743e-01 2.56573934e-03 -3.31002592e-02 -5.99398338e+00] [-2.42266691e-03 9.99987553e-01 4.36177862e-03 -1.80022303e-01] [ 3.31110383e-02 -4.27918325e-03 9.99442518e-01 1.17539823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162557844 meters Centerline goodness : 0.166533 with order 1 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.18, Z:1.18 [[ 9.99435599e-01 2.27930232e-03 -3.35155023e-02 -5.99276947e+00] [-2.16021581e-03 9.99991226e-01 3.58895838e-03 -1.76440085e-01] [ 3.35233886e-02 -3.51453205e-03 9.99431754e-01 1.17518083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222557844 meters Centerline goodness : 0.107437 with order 2 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.18, Z:1.18 [[ 9.99465448e-01 1.92754161e-03 -3.26359003e-02 -5.99551770e+00] [-1.81266580e-03 9.99992059e-01 3.54914266e-03 -1.77351180e-01] [ 3.26424823e-02 -3.48808748e-03 9.99461006e-01 1.17596593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282557844 meters Centerline goodness : 0.113435 with order 2 Centerline is valid? [False, False] Translation: X:-6.00, Y:-0.18, Z:1.18 [[ 9.99469111e-01 1.52087526e-03 -3.25450834e-02 -5.99587848e+00] [-1.40231223e-03 9.99992299e-01 3.66555485e-03 -1.79103845e-01] [ 3.25504076e-02 -3.61797048e-03 9.99463547e-01 1.17606770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342557844 meters Centerline goodness : 0.103440 with order 2 Centerline is valid? [False, False] Translation: X:-5.99, Y:-0.18, Z:1.17 [[ 9.99428617e-01 1.35832412e-03 -3.37726917e-02 -5.99182138e+00] [-1.22765682e-03 9.99991682e-01 3.88945791e-03 -1.80291490e-01] [ 3.37776939e-02 -3.84577426e-03 9.99421972e-01 1.17417826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402557844 meters Centerline goodness : 0.275574 with order 2 Centerline is valid? [False, False] Translation: X:-5.97, Y:-0.18, Z:1.18 [[ 9.99438445e-01 -6.77333580e-03 -3.28163923e-02 -5.97183713e+00] [ 6.93868333e-03 9.99963788e-01 4.92730475e-03 -1.76780163e-01] [ 3.27818296e-02 -5.15224036e-03 9.99449251e-01 1.17624730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462557844 meters Centerline goodness : 0.126075 with order 2 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.17, Z:1.18 [[ 9.99491237e-01 -4.78582889e-03 -3.15335209e-02 -5.97776413e+00] [ 4.98619481e-03 9.99967859e-01 6.27849201e-03 -1.71620211e-01] [ 3.15024596e-02 -6.43253002e-03 9.99482975e-01 1.17913542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52255784399998 meters Centerline goodness : 0.114309 with order 2 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.17, Z:1.18 [[ 9.99533695e-01 -2.28321604e-03 -3.04496385e-02 -5.98184544e+00] [ 2.53298501e-03 9.99963444e-01 8.16664196e-03 -1.66142854e-01] [ 3.04298791e-02 -8.23996229e-03 9.99502939e-01 1.18058391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58255784399998 meters Centerline goodness : 0.142582 with order 3 Centerline is valid? [False, False] Translation: X:-5.98, Y:-0.16, Z:1.18 [[ 9.99524670e-01 -2.76419194e-03 -3.07049243e-02 -5.98108707e+00] [ 2.97870499e-03 9.99971462e-01 6.94273236e-03 -1.60179620e-01] [ 3.06848570e-02 -7.03089319e-03 9.99504380e-01 1.18041426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64255784399998 meters Centerline goodness : 0.112513 with order 2 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.16, Z:1.18 [[ 9.99433565e-01 -3.21334093e-03 -3.34996054e-02 -6.02704303e+00] [ 3.43662414e-03 9.99972250e-01 6.60980217e-03 -1.55623134e-01] [ 3.34774362e-02 -6.72118370e-03 9.99416873e-01 1.18084462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70255784399998 meters Centerline goodness : 0.112092 with order 2 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.16, Z:1.18 [[ 9.99419634e-01 -3.65019233e-03 -3.38684353e-02 -6.02579632e+00] [ 3.87236933e-03 9.99971398e-01 6.49672810e-03 -1.55844138e-01] [ 3.38437523e-02 -6.62410871e-03 9.99405184e-01 1.18018529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76255784399999 meters Centerline goodness : 0.105284 with order 2 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.15, Z:1.18 [[ 9.99430287e-01 -3.75863243e-03 -3.35406480e-02 -6.02730670e+00] [ 3.96798595e-03 9.99973047e-01 6.17740639e-03 -1.54262206e-01] [ 3.35165254e-02 -6.30697586e-03 9.99418263e-01 1.18138876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822557844 meters Centerline goodness : 0.116314 with order 2 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.15, Z:1.18 [[ 9.99442723e-01 -3.93805442e-03 -3.31471809e-02 -6.02884742e+00] [ 4.12689224e-03 9.99975633e-01 5.63046234e-03 -1.51841613e-01] [ 3.31242001e-02 -5.76411945e-03 9.99434621e-01 1.18238923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882557844 meters Centerline goodness : 0.119234 with order 2 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.15, Z:1.18 [[ 9.99438175e-01 -3.98468805e-03 -3.32784753e-02 -6.02834781e+00] [ 4.16608164e-03 9.99976832e-01 5.38321816e-03 -1.50366348e-01] [ 3.32562538e-02 -5.51883457e-03 9.99431620e-01 1.18211535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942557844 meters Centerline goodness : 0.099840 with order 2 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.15, Z:1.18 [[ 9.99429539e-01 -4.05384280e-03 -3.35285529e-02 -6.02735893e+00] [ 4.22796362e-03 9.99977935e-01 5.12394265e-03 -1.48851513e-01] [ 3.35070414e-02 -5.26277714e-03 9.99424625e-01 1.18157751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002557844 meters Centerline goodness : 0.116841 with order 2 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.15, Z:1.18 [[ 9.99378572e-01 -4.68087954e-03 -3.49365113e-02 -6.02335215e+00] [ 4.86857785e-03 9.99974159e-01 5.28941751e-03 -1.52358118e-01] [ 3.49108494e-02 -5.45622164e-03 9.99375536e-01 1.18057777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062557844 meters Centerline goodness : 0.159841 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.16, Z:1.18 [[ 9.99370968e-01 -4.92627573e-03 -3.51198098e-02 -6.02263122e+00] [ 5.13998610e-03 9.99968805e-01 5.99749345e-03 -1.57503873e-01] [ 3.50891689e-02 -6.17423616e-03 9.99365113e-01 1.17994532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122557844 meters Centerline goodness : 0.163892 with order 1 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.16, Z:1.18 [[ 9.99396869e-01 -4.70049017e-03 -3.44064398e-02 -6.02501628e+00] [ 4.94437308e-03 9.99963229e-01 7.00664330e-03 -1.62932901e-01] [ 3.43722400e-02 -7.17253565e-03 9.99383362e-01 1.18075497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182557844 meters Centerline goodness : 0.115276 with order 2 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.17, Z:1.18 [[ 9.99408518e-01 -4.26104258e-03 -3.41241568e-02 -6.02599015e+00] [ 4.52719861e-03 9.99959905e-01 7.72617255e-03 -1.66279043e-01] [ 3.40898670e-02 -7.87608949e-03 9.99387737e-01 1.18126535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24255784399998 meters Centerline goodness : 0.114379 with order 2 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.17, Z:1.18 [[ 9.99395256e-01 -3.46809699e-03 -3.45990487e-02 -6.02476087e+00] [ 3.74789929e-03 9.99960772e-01 8.02541785e-03 -1.65654354e-01] [ 3.45698585e-02 -8.15023828e-03 9.99369050e-01 1.18132887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30255784399998 meters Centerline goodness : 0.116499 with order 2 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.16, Z:1.18 [[ 9.99400151e-01 5.55020859e-04 -3.46270079e-02 -6.02503776e+00] [-1.64139751e-04 9.99936251e-01 1.12901521e-02 -1.62200845e-01] [ 3.46310667e-02 -1.12776960e-02 9.99336531e-01 1.18178261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36255784399998 meters Centerline goodness : 0.113000 with order 2 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.16, Z:1.18 [[ 9.99420464e-01 4.63210047e-04 -3.40370651e-02 -6.02692914e+00] [-8.77737709e-05 9.99939154e-01 1.10308853e-02 -1.60948516e-01] [ 3.40401037e-02 -1.10215049e-02 9.99359694e-01 1.18243942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42255784399998 meters Centerline goodness : 0.170914 with order 1 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.16, Z:1.18 [[ 9.99444879e-01 -2.72690105e-04 -3.33145388e-02 -6.02906698e+00] [ 6.35316827e-04 9.99940665e-01 1.08748383e-02 -1.62755435e-01] [ 3.33095967e-02 -1.08899668e-02 9.99385751e-01 1.18283948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48255784399998 meters Centerline goodness : 0.165749 with order 1 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.17, Z:1.18 [[ 9.99415167e-01 -1.02701677e-03 -3.41799399e-02 -6.02642942e+00] [ 1.41192158e-03 9.99935845e-01 1.12389012e-02 -1.66987273e-01] [ 3.41662046e-02 -1.12805877e-02 9.99352500e-01 1.18159710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542557844 meters Centerline goodness : 0.302920 with order 2 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.17, Z:1.18 [[ 9.99395624e-01 -1.05245268e-03 -3.47459276e-02 -6.02456158e+00] [ 1.46745115e-03 9.99927872e-01 1.19204614e-02 -1.70810974e-01] [ 3.47308757e-02 -1.19642449e-02 9.99325084e-01 1.18063331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602557844 meters Centerline goodness : 0.170177 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:-0.18, Z:1.18 [[ 9.99413643e-01 3.29775849e-03 -3.40807085e-02 -6.00516569e+00] [-3.02088949e-03 9.99962044e-01 8.17222308e-03 -1.81879925e-01] [ 3.41063650e-02 -8.06447719e-03 9.99385671e-01 1.18167575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662557844 meters Centerline goodness : 0.110773 with order 2 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.18, Z:1.18 [[ 9.99374318e-01 3.10016824e-03 -3.52329537e-02 -6.05429218e+00] [-2.78803851e-03 9.99956466e-01 8.90470879e-03 -1.83134220e-01] [ 3.52590260e-02 -8.80090645e-03 9.99339454e-01 1.18208919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722557844 meters Centerline goodness : 0.101763 with order 2 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.19, Z:1.18 [[ 9.99372572e-01 3.29531901e-03 -3.52647533e-02 -6.05407537e+00] [-2.96578363e-03 9.99951488e-01 9.39284396e-03 -1.85497486e-01] [ 3.52939949e-02 -9.28236300e-03 9.99333864e-01 1.18178534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782557844 meters Centerline goodness : 0.173350 with order 1 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.19, Z:1.18 [[ 9.99361553e-01 3.51685383e-03 -3.55544377e-02 -6.05328771e+00] [-3.17148955e-03 9.99947288e-01 9.76541171e-03 -1.87030400e-01] [ 3.55869071e-02 -9.64641648e-03 9.99320028e-01 1.18168267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842557844 meters Centerline goodness : 0.165148 with order 1 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.19, Z:1.18 [[ 9.99357232e-01 3.81682790e-03 -3.56448426e-02 -6.05322304e+00] [-3.46128420e-03 9.99943698e-01 1.00310053e-02 -1.88002744e-01] [ 3.56811223e-02 -9.90118072e-03 9.99314177e-01 1.18202324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902557844 meters Centerline goodness : 0.168435 with order 1 Centerline is valid? [False, False] Translation: X:-6.03, Y:-0.19, Z:1.18 [[ 0.99934268 0.00993551 -0.03486398 -6.03150261] [-0.00970337 0.99992965 0.00682148 -0.19262654] [ 0.03492931 -0.0064787 0.99936879 1.18225315] [ 0. 0. 0. 1. ]] SLAMing on 159.962557844 meters Centerline goodness : 0.246102 with order 3 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.19, Z:1.18 [[ 9.99326770e-01 4.22681826e-03 -3.64436522e-02 -6.05263122e+00] [-3.84744120e-03 9.99937746e-01 1.04738169e-02 -1.89649532e-01] [ 3.64856544e-02 -1.03265508e-02 9.99280821e-01 1.18232165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02255784399998 meters Centerline goodness : 0.153454 with order 3 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.19, Z:1.18 [[ 9.99336841e-01 4.35124803e-03 -3.61517059e-02 -6.05390935e+00] [-3.96120913e-03 9.99933252e-01 1.08535784e-02 -1.91887697e-01] [ 3.61965194e-02 -1.07031762e-02 9.99287373e-01 1.18307526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08255784399998 meters Centerline goodness : 0.158993 with order 1 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.19, Z:1.18 [[ 9.99357234e-01 4.54068249e-03 -3.55598219e-02 -6.05614379e+00] [-4.14006162e-03 9.99927224e-01 1.13316514e-02 -1.94172498e-01] [ 3.56086874e-02 -1.11771479e-02 9.99303304e-01 1.18413120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14255784399998 meters Centerline goodness : 0.163790 with order 1 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.20, Z:1.18 [[ 9.99342705e-01 4.71622874e-03 -3.59432191e-02 -6.05480298e+00] [-4.28303045e-03 9.99917380e-01 1.21197784e-02 -1.98348907e-01] [ 3.59974091e-02 -1.19578662e-02 9.99280339e-01 1.18334895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20255784399998 meters Centerline goodness : 0.111591 with order 2 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.20, Z:1.18 [[ 9.99340335e-01 4.89862635e-03 -3.59846851e-02 -6.05479252e+00] [-4.44872691e-03 9.99911073e-01 1.25719731e-02 -2.00616497e-01] [ 3.60430705e-02 -1.24035937e-02 9.99273260e-01 1.18345280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26255784399999 meters Centerline goodness : 0.165929 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.20, Z:1.19 [[ 9.99516531e-01 -1.35273718e-03 -3.10624297e-02 -6.04046218e+00] [ 1.82565769e-03 9.99882783e-01 1.52015289e-02 -1.99790499e-01] [ 3.10382250e-02 -1.52508888e-02 9.99401841e-01 1.18695478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322557844 meters Centerline goodness : 0.167041 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:-0.20, Z:1.19 [[ 9.99524311e-01 -1.20536775e-03 -3.08171972e-02 -6.04119836e+00] [ 1.68857882e-03 9.99875969e-01 1.56587029e-02 -2.01890870e-01] [ 3.07945004e-02 -1.57032915e-02 9.99402374e-01 1.18702540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382557844 meters Centerline goodness : 0.167771 with order 1 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.20, Z:1.18 [[ 9.99413155e-01 -4.57226928e-03 -3.39476127e-02 -6.07501787e+00] [ 5.03253376e-03 9.99896408e-01 1.34850369e-02 -2.04349698e-01] [ 3.38824388e-02 -1.36479658e-02 9.99332634e-01 1.18107739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442557844 meters Centerline goodness : 0.165671 with order 1 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.21, Z:1.18 [[ 9.99421593e-01 -4.42042845e-03 -3.37185236e-02 -6.07607456e+00] [ 4.89158178e-03 9.99891377e-01 1.39034609e-02 -2.06223598e-01] [ 3.36534018e-02 -1.40603559e-02 9.99334656e-01 1.18181030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502557844 meters Centerline goodness : 0.165909 with order 1 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.21, Z:1.18 [[ 9.99405538e-01 -4.42838799e-03 -3.41900698e-02 -6.07460774e+00] [ 4.90146251e-03 9.99893242e-01 1.37652118e-02 -2.05434538e-01] [ 3.41254620e-02 -1.39246103e-02 9.99320548e-01 1.18142755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562557844 meters Centerline goodness : 0.166268 with order 1 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.20, Z:1.18 [[ 9.99414747e-01 -4.39827486e-03 -3.39237240e-02 -6.07508015e+00] [ 4.85954432e-03 9.99896700e-01 1.35268091e-02 -2.03915980e-01] [ 3.38607251e-02 -1.36837463e-02 9.99332881e-01 1.18117442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622557844 meters Centerline goodness : 0.171668 with order 1 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.20, Z:1.18 [[ 9.99459008e-01 -4.14552411e-03 -3.26267601e-02 -6.07954468e+00] [ 4.58367089e-03 9.99900168e-01 1.33657434e-02 -2.02819650e-01] [ 3.25680949e-02 -1.35080629e-02 9.99378232e-01 1.18326134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682557844 meters Centerline goodness : 0.161595 with order 1 Centerline is valid? [False, False] Translation: X:-6.08, Y:-0.20, Z:1.18 [[ 9.99442323e-01 -4.20098125e-03 -3.31269415e-02 -6.07778390e+00] [ 4.64562018e-03 9.99900003e-01 1.33567495e-02 -2.03078008e-01] [ 3.30675174e-02 -1.35031960e-02 9.99361898e-01 1.18241987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74255784399998 meters Centerline goodness : 0.165707 with order 1 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.20, Z:1.18 [[ 9.99415976e-01 -4.11184237e-03 -3.39234339e-02 -6.07460432e+00] [ 4.57907260e-03 9.99895571e-01 1.37069065e-02 -2.04567887e-01] [ 3.38635307e-02 -1.38542392e-02 9.99330437e-01 1.18041844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80255784399998 meters Centerline goodness : 0.177358 with order 1 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.20, Z:1.18 [[ 9.99415175e-01 -4.09501920e-03 -3.39490606e-02 -6.07457399e+00] [ 4.56285400e-03 9.99895541e-01 1.37144910e-02 -2.04494053e-01] [ 3.38893533e-02 -1.38613750e-02 9.99329462e-01 1.18048708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86255784399998 meters Centerline goodness : 0.156978 with order 1 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.20, Z:1.18 [[ 9.99408562e-01 -4.00418747e-03 -3.41539676e-02 -6.07423484e+00] [ 4.45363060e-03 9.99904359e-01 1.30934143e-02 -2.00324906e-01] [ 3.40982726e-02 -1.32377795e-02 9.99330811e-01 1.18083725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92255784399998 meters Centerline goodness : 0.161247 with order 1 Centerline is valid? [False, False] Translation: X:-6.07, Y:-0.20, Z:1.18 [[ 9.99406987e-01 -4.21129834e-03 -3.41751336e-02 -6.07366484e+00] [ 4.64496064e-03 9.99909576e-01 1.26199529e-02 -1.98255893e-01] [ 3.41188970e-02 -1.27712113e-02 9.99336178e-01 1.18004049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98255784399998 meters Centerline goodness : 0.162476 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.20, Z:1.18 [[ 9.99465930e-01 3.70326552e-03 -3.24675332e-02 -6.09734983e+00] [-3.32686723e-03 9.99926725e-01 1.16394341e-02 -2.00438751e-01] [ 3.25082581e-02 -1.15252027e-02 9.99405014e-01 1.17896888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042557844 meters Centerline goodness : 0.164301 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.20, Z:1.18 [[ 9.99477267e-01 3.44984764e-03 -3.21448385e-02 -6.09876333e+00] [-3.10211849e-03 9.99936204e-01 1.08611728e-02 -1.95778667e-01] [ 3.21802571e-02 -1.07557782e-02 9.99424206e-01 1.17989056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102557844 meters Centerline goodness : 0.153765 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.19, Z:1.18 [[ 9.99475596e-01 3.10834854e-03 -3.22315195e-02 -6.09859858e+00] [-2.79057772e-03 9.99947107e-01 9.89930982e-03 -1.90971954e-01] [ 3.22605852e-02 -9.80417403e-03 9.99431405e-01 1.18013520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162557844 meters Centerline goodness : 0.159996 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.18, Z:1.18 [[ 9.99482819e-01 5.68309838e-03 -3.16511821e-02 -6.10223955e+00] [-5.32660057e-03 9.99921555e-01 1.13362850e-02 -1.82410045e-01] [ 3.17131245e-02 -1.11618289e-02 9.99434686e-01 1.18274192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222557844 meters Centerline goodness : 0.157301 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.18, Z:1.18 [[ 9.99494445e-01 5.31766512e-03 -3.13460716e-02 -6.10309299e+00] [-4.99668143e-03 9.99934372e-01 1.03094513e-02 -1.77413651e-01] [ 3.13988367e-02 -1.01476130e-02 9.99455421e-01 1.18300007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282557844 meters Centerline goodness : 0.114976 with order 2 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.17, Z:1.18 [[ 9.99466417e-01 4.63726253e-03 -3.23322913e-02 -6.09940711e+00] [-4.34833388e-03 9.99950037e-01 9.00082042e-03 -1.71920568e-01] [ 3.23724151e-02 -8.85542614e-03 9.99436645e-01 1.18114002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342557844 meters Centerline goodness : 0.155399 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.17, Z:1.18 [[ 9.99458603e-01 4.35534670e-03 -3.26118405e-02 -6.09814072e+00] [-4.09342828e-03 9.99958866e-01 8.09385279e-03 -1.65756634e-01] [ 3.26457506e-02 -7.95597657e-03 9.99435319e-01 1.18049435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402557844 meters Centerline goodness : 0.166223 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.16, Z:1.18 [[ 9.99471335e-01 4.02138099e-03 -3.22626489e-02 -6.09922158e+00] [-3.78645900e-03 9.99965898e-01 7.33934214e-03 -1.62492734e-01] [ 3.22910629e-02 -7.21330089e-03 9.99452478e-01 1.18092469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462557844 meters Centerline goodness : 0.116051 with order 2 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.16, Z:1.18 [[ 9.99473119e-01 3.75384497e-03 -3.22396215e-02 -6.09935044e+00] [-3.54065525e-03 9.99971506e-01 6.66720781e-03 -1.59106672e-01] [ 3.22637305e-02 -6.54954560e-03 9.99457931e-01 1.18106389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52255784399998 meters Centerline goodness : 0.108725 with order 2 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.15, Z:1.18 [[ 9.99451510e-01 3.31592471e-03 -3.29497182e-02 -6.09718252e+00] [-3.13879729e-03 9.99980353e-01 5.42596062e-03 -1.52217682e-01] [ 3.29670629e-02 -5.31956204e-03 9.99442282e-01 1.18069132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58255784399998 meters Centerline goodness : 0.106905 with order 2 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.15, Z:1.18 [[ 0.99943789 0.0071938 -0.03274361 -6.09799947] [-0.00691244 0.99993828 0.00869772 -0.14843068] [ 0.03280416 -0.00846649 0.99942594 1.18122043] [ 0. 0. 0. 1. ]] SLAMing on 161.64255784399998 meters Centerline goodness : 0.114406 with order 2 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.14, Z:1.18 [[ 0.99942218 0.00727275 -0.03320262 -6.0961555 ] [-0.00701838 0.99994517 0.00777125 -0.14053288] [ 0.03325732 -0.00753374 0.99941843 1.18057377] [ 0. 0. 0. 1. ]] SLAMing on 161.70255784399998 meters Centerline goodness : 0.132107 with order 2 Centerline is valid? [False, False] Translation: X:-6.09, Y:-0.14, Z:1.18 [[ 0.99940904 0.00737023 -0.03357469 -6.09493808] [-0.00713858 0.99994992 0.00701441 -0.13555862] [ 0.0336247 -0.00677059 0.9994116 1.18031631] [ 0. 0. 0. 1. ]] SLAMing on 161.76255784399999 meters Centerline goodness : 0.174463 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.13, Z:1.18 [[ 0.99939053 0.0106124 -0.03325573 -6.09720503] [-0.01031424 0.99990518 0.00912442 -0.12800247] [ 0.03334941 -0.00877586 0.99940522 1.18237276] [ 0. 0. 0. 1. ]] SLAMing on 161.822557844 meters Centerline goodness : 0.172909 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.12, Z:1.18 [[ 0.99939848 0.01055567 -0.03303408 -6.09791989] [-0.01028155 0.99991138 0.00845688 -0.12420113] [ 0.03312042 -0.00811215 0.99941845 1.1827898 ] [ 0. 0. 0. 1. ]] SLAMing on 161.882557844 meters Centerline goodness : 0.177258 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.12, Z:1.18 [[ 0.99942139 0.01081975 -0.03224609 -6.10001591] [-0.01056381 0.99991142 0.00809691 -0.12109784] [ 0.03233084 -0.00775158 0.99944716 1.18311613] [ 0. 0. 0. 1. ]] SLAMing on 161.942557844 meters Centerline goodness : 0.300104 with order 2 Centerline is valid? [False, False] Translation: X:-6.10, Y:-0.12, Z:1.18 [[ 0.99942235 0.01083487 -0.03221132 -6.09986024] [-0.0106018 0.99991644 0.00739758 -0.11715632] [ 0.03228878 -0.00705181 0.9994537 1.18280894] [ 0. 0. 0. 1. ]] SLAMing on 162.002557844 meters Centerline goodness : 0.179979 with order 1 Centerline is valid? [False, False] Translation: X:-6.12, Y:-0.11, Z:1.18 [[ 9.99463607e-01 4.42211899e-03 -3.24490839e-02 -6.11710644e+00] [-4.12062839e-03 9.99947777e-01 9.35218823e-03 -1.08935255e-01] [ 3.24887458e-02 -9.21346117e-03 9.99429634e-01 1.18003906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062557844 meters Centerline goodness : 0.170324 with order 1 Centerline is valid? [False, False] Translation: X:-6.12, Y:-0.10, Z:1.18 [[ 0.99946556 0.00778739 -0.03174824 -6.12022859] [-0.00742123 0.99990477 0.01163478 -0.10263905] [ 0.03183582 -0.01139295 0.99942818 1.18176156] [ 0. 0. 0. 1. ]] SLAMing on 162.122557844 meters Centerline goodness : 0.169827 with order 1 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.09, Z:1.18 [[ 0.99934284 0.01164653 -0.03432568 -6.1648928 ] [-0.01120795 0.99985343 0.01294182 -0.09309095] [ 0.03447138 -0.0125486 0.9993269 1.18198275] [ 0. 0. 0. 1. ]] SLAMing on 162.182557844 meters SLAMing on 162.24255784399998 meters Centerline goodness : 0.170126 with order 1 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.08, Z:1.18 [[ 0.99927254 0.01336226 -0.03571893 -6.15965733] [-0.0128652 0.99981769 0.01410961 -0.0823103 ] [ 0.03590095 -0.01363982 0.99926227 1.17964181] [ 0. 0. 0. 1. ]] SLAMing on 162.30255784399998 meters Centerline goodness : 0.169684 with order 1 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.08, Z:1.18 [[ 0.99926687 0.0133045 -0.03589871 -6.15971031] [-0.01280226 0.99981744 0.01418429 -0.08265725] [ 0.03608087 -0.0137143 0.99925477 1.18059168] [ 0. 0. 0. 1. ]] SLAMing on 162.36255784399998 meters Centerline goodness : 0.175681 with order 1 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.08, Z:1.18 [[ 0.99925453 0.01324381 -0.03626268 -6.15898753] [-0.01274625 0.99982189 0.01391806 -0.07982548] [ 0.03644055 -0.01344547 0.99924537 1.1809934 ] [ 0. 0. 0. 1. ]] SLAMing on 162.42255784399998 meters Centerline goodness : 0.138464 with order 2 Centerline is valid? [False, False] Translation: X:-6.16, Y:-0.08, Z:1.18 [[ 0.99928524 0.01313264 -0.03544785 -6.16170691] [-0.01266377 0.99982976 0.01341926 -0.07755549] [ 0.03561805 -0.01296077 0.99928143 1.18196926] [ 0. 0. 0. 1. ]] SLAMing on 162.48255784399998 meters Centerline goodness : 0.262887 with order 2 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.07, Z:1.18 [[ 0.99916967 0.01543923 -0.03770419 -6.20973018] [-0.01491002 0.99978691 0.01427699 -0.07447885] [ 0.03791658 -0.01370297 0.99918695 1.18338316] [ 0. 0. 0. 1. ]] SLAMing on 162.542557844 meters Centerline goodness : 0.404593 with order 3 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.08, Z:1.18 [[ 0.99915908 0.01563672 -0.03790274 -6.20915643] [-0.01509815 0.99978154 0.01445418 -0.07513962] [ 0.03812047 -0.01386977 0.99917689 1.18309853] [ 0. 0. 0. 1. ]] SLAMing on 162.602557844 meters Centerline goodness : 0.399892 with order 2 Centerline is valid? [False, False] Translation: X:-6.21, Y:-0.08, Z:1.18 [[ 0.99916708 0.01615275 -0.03747314 -6.21086115] [-0.01560205 0.99976663 0.01494209 -0.0762361 ] [ 0.03770575 -0.01434499 0.99918592 1.18392178] [ 0. 0. 0. 1. ]] SLAMing on 162.662557844 meters Centerline goodness : 0.168076 with order 3 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.07, Z:1.18 [[ 0.9993082 0.00815112 -0.03628617 -6.23199623] [-0.00758207 0.99984654 0.01579247 -0.07341988] [ 0.03640933 -0.01550642 0.99921665 1.18291973] [ 0. 0. 0. 1. ]] SLAMing on 162.722557844 meters Centerline goodness : 0.216512 with order 3 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.08, Z:1.18 [[ 0.99933213 0.0086511 -0.03550276 -6.23434482] [-0.00807291 0.99983297 0.01639679 -0.07593293] [ 0.03563868 -0.01609923 0.99923506 1.18325137] [ 0. 0. 0. 1. ]] SLAMing on 162.782557844 meters Centerline goodness : 0.260712 with order 1 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.08, Z:1.18 [[ 0.99930381 0.00916812 -0.03616417 -6.23169628] [-0.00854262 0.99981189 0.01741271 -0.08090561] [ 0.03631701 -0.01709165 0.99919415 1.18160761] [ 0. 0. 0. 1. ]] SLAMing on 162.842557844 meters Centerline goodness : 0.392778 with order 1 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.09, Z:1.18 [[ 9.99288376e-01 6.14209435e-03 -3.72158025e-02 -6.22902904e+00] [-5.58715762e-03 9.99871928e-01 1.49970180e-02 -8.62675579e-02] [ 3.73031493e-02 -1.47784152e-02 9.99194713e-01 1.18134335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902557844 meters Centerline goodness : 0.140878 with order 1 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.09, Z:1.18 [[ 9.99312425e-01 2.51299334e-03 -3.69913758e-02 -6.22948813e+00] [-2.07006326e-03 9.99925767e-01 1.20073084e-02 -9.01922507e-02] [ 3.70188041e-02 -1.19224780e-02 9.99243445e-01 1.18125249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962557844 meters Centerline goodness : 0.158994 with order 1 Centerline is valid? [False, False] Translation: X:-6.23, Y:-0.10, Z:1.18 [[ 9.99315977e-01 -1.26190797e-03 -3.69592306e-02 -6.22905417e+00] [ 1.59547590e-03 9.99958252e-01 8.99719127e-03 -9.52906091e-02] [ 3.69463340e-02 -9.05000455e-03 9.99276271e-01 1.18056805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02255784399998 meters SLAMing on 163.08255784399998 meters Centerline goodness : 0.384036 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.11, Z:1.18 [[ 9.99211175e-01 -1.07548613e-03 -3.96972451e-02 -6.27351755e+00] [ 1.45845594e-03 9.99952667e-01 9.61956536e-03 -1.11051885e-01] [ 3.96850204e-02 -9.66987388e-03 9.99165448e-01 1.18092784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14255784399998 meters Centerline goodness : 0.156785 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.11, Z:1.18 [[ 9.99227870e-01 -5.00533246e-04 -3.92863065e-02 -6.27470049e+00] [ 9.02833642e-04 9.99947335e-01 1.02231461e-02 -1.13094945e-01] [ 3.92791204e-02 -1.02507215e-02 9.99175697e-01 1.18115171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20255784399998 meters Centerline goodness : 0.160978 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.12, Z:1.18 [[ 9.99227461e-01 -2.77704779e-04 -3.92989185e-02 -6.27477918e+00] [ 6.97673887e-04 9.99942796e-01 1.06732203e-02 -1.15339315e-01] [ 3.92937064e-02 -1.06923926e-02 9.99170495e-01 1.18134330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26255784399999 meters Centerline goodness : 0.111464 with order 2 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.12, Z:1.18 [[ 9.99195649e-01 2.72656004e-04 -4.00996338e-02 -6.27199451e+00] [ 1.91412082e-04 9.99933063e-01 1.15685813e-02 -1.19220343e-01] [ 4.01001039e-02 -1.15669516e-02 9.99128714e-01 1.18019769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322557844 meters Centerline goodness : 0.148132 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.12, Z:1.18 [[ 9.99192690e-01 5.68431397e-04 -4.01702062e-02 -6.27175502e+00] [-8.11965829e-05 9.99926427e-01 1.21298492e-02 -1.21808440e-01] [ 4.01741457e-02 -1.21167950e-02 9.99119223e-01 1.18015445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382557844 meters Centerline goodness : 0.120946 with order 2 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.12, Z:1.18 [[ 9.99211304e-01 8.49819570e-04 -3.96994780e-02 -6.27313611e+00] [-3.57824890e-04 9.99923072e-01 1.23984381e-02 -1.22761432e-01] [ 3.97069604e-02 -1.23744541e-02 9.99134741e-01 1.18051073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442557844 meters Centerline goodness : 0.121071 with order 2 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.12, Z:1.18 [[ 9.99217700e-01 1.40338487e-03 -3.95223730e-02 -6.27324605e+00] [-9.06586464e-04 9.99920393e-01 1.25851732e-02 -1.22567570e-01] [ 3.95368886e-02 -1.25394974e-02 9.99139427e-01 1.17980979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502557844 meters Centerline goodness : 0.157938 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.12, Z:1.18 [[ 9.99240847e-01 1.74922528e-03 -3.89187543e-02 -6.27494390e+00] [-1.25190358e-03 9.99917304e-01 1.27991618e-02 -1.22471052e-01] [ 3.89379245e-02 -1.27407228e-02 9.99160404e-01 1.18000014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562557844 meters Centerline goodness : 0.112486 with order 2 Centerline is valid? [False, False] Translation: X:-6.28, Y:-0.12, Z:1.18 [[ 9.99248287e-01 1.73845952e-03 -3.87277425e-02 -6.27526393e+00] [-1.24450013e-03 9.99917620e-01 1.27751232e-02 -1.22718400e-01] [ 3.87467611e-02 -1.27173233e-02 9.99168133e-01 1.17973812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622557844 meters Centerline goodness : 0.255232 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.12, Z:1.18 [[ 9.99226555e-01 1.73585732e-03 -3.92845806e-02 -6.27352959e+00] [-1.25097567e-03 9.99922780e-01 1.23640156e-02 -1.19612831e-01] [ 3.93030092e-02 -1.23053087e-02 9.99151567e-01 1.17898961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682557844 meters Centerline goodness : 0.419052 with order 3 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.12, Z:1.18 [[ 9.99231157e-01 1.54037761e-03 -3.91755406e-02 -6.27413180e+00] [-1.07936231e-03 9.99929956e-01 1.17863661e-02 -1.16701152e-01] [ 3.91909520e-02 -1.17350197e-02 9.99162829e-01 1.17939739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74255784399998 meters Centerline goodness : 0.118490 with order 2 Centerline is valid? [False, False] Translation: X:-6.27, Y:-0.12, Z:1.18 [[ 9.99225691e-01 1.37711983e-03 -3.93207540e-02 -6.27378891e+00] [-9.25003945e-04 9.99933284e-01 1.15140277e-02 -1.15527487e-01] [ 3.93339869e-02 -1.14687404e-02 9.99160300e-01 1.17937467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80255784399998 meters Centerline goodness : 0.153099 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.12, Z:1.18 [[ 9.99251320e-01 6.34374896e-03 -3.81648593e-02 -6.29734797e+00] [-6.03339120e-03 9.99947835e-01 8.24171556e-03 -1.20926005e-01] [ 3.82151518e-02 -8.00528163e-03 9.99237468e-01 1.17894575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86255784399998 meters Centerline goodness : 0.154045 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.12, Z:1.18 [[ 9.99256644e-01 6.44709701e-03 -3.80078138e-02 -6.29799687e+00] [-6.12059702e-03 9.99943419e-01 8.70044751e-03 -1.23031242e-01] [ 3.80617559e-02 -8.46134947e-03 9.99239565e-01 1.17947451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92255784399998 meters Centerline goodness : 0.150124 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.12, Z:1.18 [[ 0.99922159 0.0066266 -0.03888837 -6.29516554] [-0.00630541 0.99994504 0.00837621 -0.12095735] [ 0.03894173 -0.00812448 0.99920845 1.17840467] [ 0. 0. 0. 1. ]] SLAMing on 163.98255784399998 meters Centerline goodness : 0.145073 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.11, Z:1.18 [[ 0.99916113 0.01061625 -0.03955172 -6.29222791] [-0.01019402 0.99988905 0.01086182 -0.11418804] [ 0.03966265 -0.01044952 0.99915849 1.17643936] [ 0. 0. 0. 1. ]] SLAMing on 164.042557844 meters Centerline goodness : 0.143277 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:-0.11, Z:1.18 [[ 0.99917696 0.01131296 -0.03895402 -6.29411726] [-0.01090326 0.99988316 0.01071394 -0.11080797] [ 0.03907067 -0.01028039 0.99918356 1.17672634] [ 0. 0. 0. 1. ]] SLAMing on 164.102557844 meters Centerline goodness : 0.203592 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.11, Z:1.18 [[ 0.9992009 0.0110636 -0.03840784 -6.29591184] [-0.01068657 0.99989281 0.01000808 -0.10744666] [ 0.03851444 -0.00958964 0.99921203 1.17722634] [ 0. 0. 0. 1. ]] SLAMing on 164.162557844 meters Centerline goodness : 0.111726 with order 2 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.11, Z:1.18 [[ 9.99236677e-01 7.30806052e-03 -3.83751959e-02 -6.29593132e+00] [-7.07686083e-03 9.99956003e-01 6.15710457e-03 -1.05066450e-01] [ 3.84185040e-02 -5.88082879e-03 9.99244432e-01 1.17697237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222557844 meters Centerline goodness : 0.115843 with order 2 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.11, Z:1.18 [[ 9.99244648e-01 3.49390591e-03 -3.87030503e-02 -6.29595965e+00] [-3.38615013e-03 9.99990207e-01 2.84936985e-03 -1.06646259e-01] [ 3.87126267e-02 -2.71616323e-03 9.99246694e-01 1.17790478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282557844 meters Centerline goodness : 0.150689 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.11, Z:1.18 [[ 9.99276705e-01 1.14545091e-03 -3.80099291e-02 -6.29886421e+00] [-1.09890150e-03 9.99998621e-01 1.24553407e-03 -1.11287089e-01] [ 3.80113033e-02 -1.20286402e-03 9.99276585e-01 1.17926685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342557844 meters Centerline goodness : 0.264505 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.12, Z:1.18 [[ 9.99283924e-01 -3.05000715e-03 -3.77138842e-02 -6.29992056e+00] [ 2.98455155e-03 9.99993941e-01 -1.79176152e-03 -1.17181172e-01] [ 3.77191206e-02 1.67791945e-03 9.99286972e-01 1.17997828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402557844 meters Centerline goodness : 0.153287 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:-0.12, Z:1.18 [[ 9.99311731e-01 -2.87670609e-03 -3.69836197e-02 -6.30220748e+00] [ 2.84745111e-03 9.99995590e-01 -8.43673571e-04 -1.21861077e-01] [ 3.69858836e-02 7.37783848e-04 9.99315516e-01 1.18087511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462557844 meters Centerline goodness : 0.164637 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:-0.13, Z:1.18 [[ 9.99351535e-01 -5.16100435e-03 -3.56352834e-02 -6.30817383e+00] [ 5.07328383e-03 9.99983875e-01 -2.55160420e-03 -1.27018795e-01] [ 3.56478777e-02 2.36916166e-03 9.99361604e-01 1.18376007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52255784399998 meters Centerline goodness : 0.156542 with order 1 Centerline is valid? [False, False] Translation: X:-6.35, Y:-0.13, Z:1.18 [[ 9.99226381e-01 -3.96048424e-03 -3.91274198e-02 -6.35084927e+00] [ 3.92769953e-03 9.99991868e-01 -9.14730693e-04 -1.30739034e-01] [ 3.91307244e-02 7.60342291e-04 9.99233811e-01 1.18224047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58255784399998 meters Centerline goodness : 0.162264 with order 1 Centerline is valid? [False, False] Translation: X:-6.35, Y:-0.13, Z:1.18 [[ 9.99218954e-01 -3.92392315e-03 -3.93202847e-02 -6.35009738e+00] [ 3.89017761e-03 9.99991996e-01 -9.34696961e-04 -1.30520423e-01] [ 3.93236377e-02 7.81004029e-04 9.99226221e-01 1.18177734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64255784399998 meters Centerline goodness : 0.119269 with order 2 Centerline is valid? [False, False] Translation: X:-6.35, Y:-0.13, Z:1.18 [[ 9.99200094e-01 -4.06357538e-03 -3.97826585e-02 -6.34878231e+00] [ 4.02271891e-03 9.99991296e-01 -1.10698738e-03 -1.30667219e-01] [ 3.97868106e-02 9.46067439e-04 9.99207743e-01 1.18147960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70255784399998 meters Centerline goodness : 0.165127 with order 1 Centerline is valid? [False, False] Translation: X:-6.35, Y:-0.13, Z:1.18 [[ 9.99190075e-01 -4.08318815e-03 -4.00315020e-02 -6.34759085e+00] [ 4.03778864e-03 9.99991110e-01 -1.21488098e-03 -1.29793750e-01] [ 4.00361067e-02 1.05225828e-03 9.99197680e-01 1.18053034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76255784399999 meters Centerline goodness : 0.160937 with order 2 Centerline is valid? [False, False] Translation: X:-6.35, Y:-0.13, Z:1.18 [[ 9.99228868e-01 -4.84353270e-03 -3.89642066e-02 -6.35080326e+00] [ 4.79035633e-03 9.99987463e-01 -1.45799576e-03 -1.30764964e-01] [ 3.89707800e-02 1.27021902e-03 9.99239543e-01 1.18148802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822557844 meters Centerline goodness : 0.135276 with order 2 Centerline is valid? [False, False] Translation: X:-6.35, Y:-0.13, Z:1.18 [[ 9.99254860e-01 -5.19960790e-03 -3.82451028e-02 -6.35333919e+00] [ 5.15505885e-03 9.99985915e-01 -1.26335260e-03 -1.32566301e-01] [ 3.82511330e-02 1.06525547e-03 9.99267590e-01 1.18276198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882557844 meters Centerline goodness : 0.160073 with order 1 Centerline is valid? [False, False] Translation: X:-6.36, Y:-0.13, Z:1.18 [[ 9.99281990e-01 -5.56301622e-03 -3.74774310e-02 -6.35513554e+00] [ 5.52033436e-03 9.99983991e-01 -1.24225343e-03 -1.33635361e-01] [ 3.74837418e-02 1.03447353e-03 9.99296702e-01 1.18261354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942557844 meters Centerline goodness : 0.153738 with order 1 Centerline is valid? [False, False] Translation: X:-6.36, Y:-0.13, Z:1.18 [[ 9.99290180e-01 -5.67925873e-03 -3.72408716e-02 -6.35641231e+00] [ 5.62825725e-03 9.99983075e-01 -1.47419753e-03 -1.32563766e-01] [ 3.72486137e-02 1.26354991e-03 9.99305231e-01 1.18364366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002557844 meters Centerline goodness : 0.121488 with order 2 Centerline is valid? [False, False] Translation: X:-6.38, Y:-0.13, Z:1.18 [[ 9.99203790e-01 2.65122574e-03 -3.98090122e-02 -6.37584131e+00] [-2.75463021e-03 9.99992973e-01 -2.54288728e-03 -1.33854316e-01] [ 3.98019907e-02 2.65052172e-03 9.99204071e-01 1.18233021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062557844 meters Centerline goodness : 0.165540 with order 1 Centerline is valid? [False, False] Translation: X:-6.42, Y:-0.13, Z:1.18 [[ 9.99308594e-01 1.25648765e-03 -3.71585153e-02 -6.42038305e+00] [-1.37684652e-03 9.99993888e-01 -3.21365328e-03 -1.33884600e-01] [ 3.71542502e-02 3.26259291e-03 9.99304217e-01 1.17997145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122557844 meters Centerline goodness : 0.166663 with order 1 Centerline is valid? [False, False] Translation: X:-6.42, Y:-0.13, Z:1.18 [[ 9.99308617e-01 1.04257873e-03 -3.71645229e-02 -6.42004563e+00] [-1.17708303e-03 9.99992836e-01 -3.59746195e-03 -1.32338726e-01] [ 3.71605061e-02 3.63872045e-03 9.99302685e-01 1.17939451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182557844 meters Centerline goodness : 0.166487 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.13, Z:1.18 [[ 9.99181422e-01 -2.27452920e-04 -4.04528649e-02 -6.46370254e+00] [ 4.60706556e-05 9.99989943e-01 -4.48466851e-03 -1.30614227e-01] [ 4.04534781e-02 4.47913377e-03 9.99171383e-01 1.17791652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24255784399998 meters SLAMing on 165.30255784399998 meters Centerline goodness : 0.392297 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.13, Z:1.18 [[ 9.99126831e-01 -4.46688055e-03 -4.15406072e-02 -6.45990966e+00] [ 4.14962803e-03 9.99961588e-01 -7.72025949e-03 -1.31591924e-01] [ 4.15734971e-02 7.54114034e-03 9.99106989e-01 1.17585966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36255784399998 meters SLAMing on 165.42255784399998 meters Centerline goodness : 0.182313 with order 2 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.13, Z:1.18 [[ 9.99153753e-01 -4.90887317e-03 -4.08372475e-02 -6.46302977e+00] [ 4.51652217e-03 9.99942808e-01 -9.69439336e-03 -1.25949748e-01] [ 4.08825005e-02 9.50174717e-03 9.99118781e-01 1.17691787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48255784399998 meters Centerline goodness : 0.216619 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.12, Z:1.18 [[ 9.99148227e-01 -5.40057527e-03 -4.09103085e-02 -6.46266935e+00] [ 4.95498151e-03 9.99927380e-01 -1.09855465e-02 -1.20850501e-01] [ 4.09666658e-02 1.07734795e-02 9.99102429e-01 1.17650452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.542557844 meters Centerline goodness : 0.127397 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.12, Z:1.18 [[ 9.99152270e-01 -5.89066663e-03 -4.07436001e-02 -6.46308549e+00] [ 5.41084830e-03 9.99914829e-01 -1.18767989e-02 -1.16863486e-01] [ 4.08100922e-02 1.16462732e-02 9.99099044e-01 1.17650921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602557844 meters Centerline goodness : 0.348538 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.12, Z:1.18 [[ 0.99915192 -0.00711148 -0.04055701 -6.46428838] [ 0.00660319 0.99989815 -0.01265294 -0.11598641] [ 0.04064286 0.0123744 0.99909711 1.17757269] [ 0. 0. 0. 1. ]] SLAMing on 165.662557844 meters Centerline goodness : 0.176706 with order 1 Centerline is valid? [False, False] Translation: X:-6.47, Y:-0.12, Z:1.18 [[ 0.9991776 -0.00717813 -0.03990744 -6.46617067] [ 0.00668713 0.99990047 -0.01242336 -0.11725761] [ 0.03999265 0.01214627 0.99912615 1.17798288] [ 0. 0. 0. 1. ]] SLAMing on 165.722557844 meters Centerline goodness : 0.407862 with order 3 Centerline is valid? [False, False] Translation: X:-6.47, Y:-0.12, Z:1.18 [[ 0.99920007 -0.00710656 -0.03935382 -6.46767136] [ 0.00661317 0.99989808 -0.01265316 -0.11598348] [ 0.03943973 0.01238278 0.99914522 1.17836029] [ 0. 0. 0. 1. ]] SLAMing on 165.782557844 meters Centerline goodness : 0.124612 with order 2 Centerline is valid? [False, False] Translation: X:-6.47, Y:-0.11, Z:1.18 [[ 9.99190043e-01 -2.18969144e-03 -4.01803811e-02 -6.46527464e+00] [ 1.82846052e-03 9.99957604e-01 -9.02477896e-03 -1.13296005e-01] [ 4.01984391e-02 8.94400103e-03 9.99151685e-01 1.17787487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842557844 meters SLAMing on 165.902557844 meters SLAMing on 165.962557844 meters Centerline goodness : 0.366865 with order 1 Centerline is valid? [False, False] Translation: X:-6.49, Y:-0.12, Z:1.18 [[ 0.99874372 0.02963642 -0.04040618 -6.48644191] [-0.0300224 0.99950889 -0.0089794 -0.12322353] [ 0.04012022 0.01018121 0.99914299 1.17614061] [ 0. 0. 0. 1. ]] SLAMing on 166.02255784399998 meters Centerline goodness : 0.177260 with order 1 Centerline is valid? [False, False] Translation: X:-6.50, Y:-0.12, Z:1.17 [[ 0.99879118 0.02181109 -0.04405056 -6.50393164] [-0.02217334 0.99972409 -0.00775156 -0.12094392] [ 0.04386934 0.00871894 0.99899923 1.17302413] [ 0. 0. 0. 1. ]] SLAMing on 166.08255784399998 meters Centerline goodness : 0.098710 with order 1 Centerline is valid? [False, False] Translation: X:-6.52, Y:-0.12, Z:1.17 [[ 9.98803017e-01 1.36247126e-02 -4.69776528e-02 -6.52205373e+00] [-1.39380715e-02 9.99882702e-01 -6.34926173e-03 -1.18217775e-01] [ 4.68856355e-02 6.99643966e-03 9.98875762e-01 1.17142751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14255784399998 meters Centerline goodness : 0.252524 with order 1 Centerline is valid? [False, False] Translation: X:-6.52, Y:-0.12, Z:1.17 [[ 9.98819562e-01 1.36333523e-02 -4.66220350e-02 -6.52329678e+00] [-1.39472678e-02 9.99882157e-01 -6.41452481e-03 -1.17786274e-01] [ 4.65290894e-02 7.05720287e-03 9.98892006e-01 1.17197849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20255784399998 meters Centerline goodness : 0.174543 with order 1 Centerline is valid? [False, False] Translation: X:-6.51, Y:-0.11, Z:1.17 [[ 9.99000031e-01 5.50578722e-03 -4.43691767e-02 -6.50539627e+00] [-5.75977819e-03 9.99967739e-01 -5.59868366e-03 -1.11635888e-01] [ 4.43369201e-02 5.84864177e-03 9.98999515e-01 1.17340053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26255784399999 meters SLAMing on 166.322557844 meters Centerline goodness : 0.107151 with order 2 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.11, Z:1.17 [[ 9.98818258e-01 3.15946452e-03 -4.84984994e-02 -6.54703828e+00] [-3.55473335e-03 9.99961151e-01 -8.06603910e-03 -1.14148729e-01] [ 4.84711309e-02 8.22890635e-03 9.98790686e-01 1.17128543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.382557844 meters Centerline goodness : 0.177159 with order 1 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.11, Z:1.17 [[ 9.98832128e-01 3.06977753e-03 -4.82178104e-02 -6.54826432e+00] [-3.48132225e-03 9.99958209e-01 -8.45345871e-03 -1.12156031e-01] [ 4.81898451e-02 8.61144788e-03 9.98801072e-01 1.17205829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442557844 meters Centerline goodness : 0.137689 with order 3 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.11, Z:1.17 [[ 9.98755074e-01 4.04377417e-03 -4.97187082e-02 -6.59732877e+00] [-4.44001198e-03 9.99959239e-01 -7.86173190e-03 -1.12369022e-01] [ 4.96848905e-02 8.07269628e-03 9.98732318e-01 1.17294548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502557844 meters Centerline goodness : 0.166095 with order 1 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.11, Z:1.17 [[ 9.98759332e-01 4.02940166e-03 -4.96342603e-02 -6.59776089e+00] [-4.42785646e-03 9.99958829e-01 -7.92048050e-03 -1.12153252e-01] [ 4.96003020e-02 8.13042720e-03 9.98736054e-01 1.17325905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562557844 meters SLAMing on 166.622557844 meters Centerline goodness : 0.117430 with order 2 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.12, Z:1.17 [[ 0.99872205 0.01118641 -0.0492863 -6.65799325] [-0.01165757 0.99988896 -0.00928276 -0.1171582 ] [ 0.04917699 0.00984545 0.99874155 1.1681235 ] [ 0. 0. 0. 1. ]] SLAMing on 166.682557844 meters Centerline goodness : 0.166565 with order 3 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.12, Z:1.17 [[ 0.99869899 0.01126448 -0.04973363 -6.65674889] [-0.01175014 0.99988599 -0.00948366 -0.11602913] [ 0.04962113 0.0100557 0.99871749 1.16780446] [ 0. 0. 0. 1. ]] SLAMing on 166.74255784399998 meters Centerline goodness : 0.113874 with order 2 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.11, Z:1.17 [[ 0.9986553 0.01222306 -0.05038037 -6.65510774] [-0.01270677 0.99987609 -0.00929212 -0.11384066] [ 0.05026055 0.0099198 0.99868688 1.16762183] [ 0. 0. 0. 1. ]] SLAMing on 166.80255784399998 meters Centerline goodness : 0.263313 with order 1 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.11, Z:1.17 [[ 0.99861232 0.01239562 -0.05118381 -6.65189529] [-0.01290457 0.99987041 -0.00962507 -0.11202161] [ 0.05105787 0.01027222 0.99864287 1.16571185] [ 0. 0. 0. 1. ]] SLAMing on 166.86255784399998 meters Centerline goodness : 0.276061 with order 1 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.11, Z:1.17 [[ 0.99863889 0.01250509 -0.05063582 -6.65395486] [-0.01300652 0.99986947 -0.00958532 -0.11192654] [ 0.05050935 0.01023087 0.99867118 1.16664513] [ 0. 0. 0. 1. ]] SLAMing on 166.92255784399998 meters Centerline goodness : 0.158678 with order 1 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.11, Z:1.17 [[ 0.99863145 0.01257311 -0.05076566 -6.65401963] [-0.01306344 0.99987106 -0.00933842 -0.11310692] [ 0.0506417 0.00998882 0.99866693 1.16727172] [ 0. 0. 0. 1. ]] SLAMing on 166.98255784399998 meters Centerline goodness : 0.163256 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.11, Z:1.16 [[ 9.98706537e-01 3.87450248e-03 -5.06975549e-02 -6.67530276e+00] [-4.30220692e-03 9.99956050e-01 -8.32998705e-03 -1.11644428e-01] [ 5.06630522e-02 8.53732389e-03 9.98679313e-01 1.16485762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.042557844 meters Centerline goodness : 0.160957 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.12, Z:1.17 [[ 9.98776131e-01 1.32638039e-03 -4.94416948e-02 -6.68063710e+00] [-1.84011593e-03 9.99944779e-01 -1.03466665e-02 -1.15757953e-01] [ 4.94252409e-02 1.04249820e-02 9.98723418e-01 1.16718309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.102557844 meters Centerline goodness : 0.400673 with order 3 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.12, Z:1.17 [[ 9.98781964e-01 1.34131620e-03 -4.93233224e-02 -6.68123536e+00] [-1.85312654e-03 9.99944902e-01 -1.03323751e-02 -1.15780950e-01] [ 4.93067459e-02 1.04111922e-02 9.98729419e-01 1.16764996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.162557844 meters Centerline goodness : 0.372619 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.11, Z:1.17 [[ 9.98796440e-01 1.28801673e-03 -4.90307242e-02 -6.68200907e+00] [-1.80725994e-03 9.99942742e-01 -1.05473012e-02 -1.14642081e-01] [ 4.90143318e-02 1.06232182e-02 9.98741579e-01 1.16764097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.222557844 meters Centerline goodness : 0.158278 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.11, Z:1.17 [[ 9.98805927e-01 1.19044003e-03 -4.88395720e-02 -6.68255029e+00] [-1.72659604e-03 9.99938697e-01 -1.09371824e-02 -1.12857757e-01] [ 4.88235579e-02 1.10084488e-02 9.98746752e-01 1.16764755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282557844 meters Centerline goodness : 0.274020 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.11, Z:1.17 [[ 9.98793570e-01 1.12253541e-03 -4.90932253e-02 -6.68169752e+00] [-1.66753961e-03 9.99937425e-01 -1.10618657e-02 -1.12463518e-01] [ 4.90777360e-02 1.11303852e-02 9.98732942e-01 1.16728922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342557844 meters Centerline goodness : 0.269957 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.11, Z:1.17 [[ 9.98778087e-01 1.27893721e-03 -4.94034211e-02 -6.68079361e+00] [-1.81299046e-03 9.99940393e-01 -1.07667477e-02 -1.13527113e-01] [ 4.93867063e-02 1.08431596e-02 9.98720871e-01 1.16709582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402557844 meters Centerline goodness : 0.377799 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.12, Z:1.17 [[ 9.98775666e-01 -2.57205535e-03 -4.94019637e-02 -6.68046434e+00] [ 1.89901406e-03 9.99904814e-01 -1.36658837e-02 -1.19363436e-01] [ 4.94324108e-02 1.35553370e-02 9.98685481e-01 1.16670336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.462557844 meters Centerline goodness : 0.265269 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.13, Z:1.17 [[ 9.98805118e-01 -5.15368863e-03 -4.85980995e-02 -6.68465342e+00] [ 4.41963269e-03 9.99874706e-01 -1.52000008e-02 -1.27162939e-01] [ 4.86703465e-02 1.49670529e-02 9.98702751e-01 1.16908339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52255784399998 meters Centerline goodness : 0.261304 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.14, Z:1.17 [[ 9.98807138e-01 -4.35278232e-03 -4.86349077e-02 -6.68443743e+00] [ 3.70398458e-03 9.99903056e-01 -1.34223367e-02 -1.35421421e-01] [ 4.86886173e-02 1.32261828e-02 9.98726432e-01 1.16902652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58255784399998 meters Centerline goodness : 0.157947 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.14, Z:1.17 [[ 9.98795008e-01 -3.96340719e-03 -4.89164975e-02 -6.68283461e+00] [ 3.34637256e-03 9.99913886e-01 -1.26894956e-02 -1.39163039e-01] [ 4.89625787e-02 1.25105120e-02 9.98722260e-01 1.16775203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64255784399998 meters Centerline goodness : 0.149235 with order 1 Centerline is valid? [False, False] Translation: X:-6.70, Y:-0.15, Z:1.17 [[ 9.98904775e-01 3.55503969e-03 -4.66541821e-02 -6.70297332e+00] [-4.14570586e-03 9.99912402e-01 -1.25698722e-02 -1.53260966e-01] [ 4.66054089e-02 1.27495199e-02 9.98832011e-01 1.16517514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70255784399998 meters Centerline goodness : 0.163060 with order 1 Centerline is valid? [False, False] Translation: X:-6.70, Y:-0.16, Z:1.16 [[ 9.98876390e-01 4.09372534e-03 -4.72143930e-02 -6.70067371e+00] [-4.63985614e-03 9.99923530e-01 -1.14632514e-02 -1.59743955e-01] [ 4.71638551e-02 1.16694391e-02 9.98819000e-01 1.16395470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76255784399999 meters Centerline goodness : 0.161863 with order 1 Centerline is valid? [False, False] Translation: X:-6.70, Y:-0.16, Z:1.16 [[ 9.98875799e-01 4.48852832e-03 -4.71910133e-02 -6.70030529e+00] [-4.99340790e-03 9.99931497e-01 -1.05861992e-02 -1.63843285e-01] [ 4.71402641e-02 1.08099422e-02 9.98829786e-01 1.16323527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822557844 meters Centerline goodness : 0.139230 with order 3 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.17, Z:1.16 [[ 9.98956421e-01 -3.89048975e-03 -4.55074960e-02 -6.67957314e+00] [ 3.47494817e-03 9.99951578e-01 -9.20682557e-03 -1.68791051e-01] [ 4.55411115e-02 9.03908133e-03 9.98921570e-01 1.16462491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882557844 meters Centerline goodness : 0.373374 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.17, Z:1.16 [[ 9.98933983e-01 -3.59465532e-03 -4.60214768e-02 -6.67828027e+00] [ 3.22355729e-03 9.99961712e-01 -8.13526187e-03 -1.74758994e-01] [ 4.60489582e-02 7.97823668e-03 9.98907324e-01 1.16474294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942557844 meters Centerline goodness : 0.132835 with order 3 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.18, Z:1.17 [[ 0.99902 -0.01255678 -0.04244258 -6.65908123] [ 0.01225931 0.99989848 -0.00726176 -0.18100972] [ 0.04252945 0.00673433 0.99907252 1.16515941] [ 0. 0. 0. 1. ]] SLAMing on 168.002557844 meters Centerline goodness : 0.141846 with order 1 Centerline is valid? [False, False] Translation: X:-6.67, Y:-0.18, Z:1.17 [[ 0.99906096 -0.01442868 -0.04085345 -6.66625407] [ 0.01408714 0.99986348 -0.00863575 -0.18414206] [ 0.04097248 0.00805213 0.99912783 1.16873727] [ 0. 0. 0. 1. ]] SLAMing on 168.062557844 meters Centerline goodness : 0.390612 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.19, Z:1.17 [[ 9.99030607e-01 -6.12914231e-03 -4.35922080e-02 -6.68459561e+00] [ 5.73992714e-03 9.99942591e-01 -9.04812045e-03 -1.94106159e-01] [ 4.36451626e-02 8.78913316e-03 9.99008434e-01 1.16662926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122557844 meters Centerline goodness : 0.384968 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.20, Z:1.17 [[ 9.99001425e-01 -5.72040373e-03 -4.43105957e-02 -6.68208076e+00] [ 5.35121879e-03 9.99950014e-01 -8.44589390e-03 -1.96570857e-01] [ 4.43566947e-02 8.20034435e-03 9.98982101e-01 1.16546145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182557844 meters Centerline goodness : 0.384665 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:-0.20, Z:1.16 [[ 9.98990066e-01 -5.40213799e-03 -4.46056701e-02 -6.68082144e+00] [ 5.04702196e-03 9.99954700e-01 -8.07001625e-03 -1.98205535e-01] [ 4.46472448e-02 7.83674027e-03 9.98972076e-01 1.16462884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24255784399998 meters Centerline goodness : 0.386177 with order 1 Centerline is valid? [False, False] Translation: X:-6.72, Y:-0.20, Z:1.16 [[ 9.98830018e-01 -5.02627500e-03 -4.80971167e-02 -6.72431167e+00] [ 4.67164992e-03 9.99961092e-01 -7.48267857e-03 -2.02752076e-01] [ 4.81328553e-02 7.24923108e-03 9.98814636e-01 1.16364472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30255784399998 meters Centerline goodness : 0.384787 with order 1 Centerline is valid? [False, False] Translation: X:-6.70, Y:-0.20, Z:1.16 [[ 9.98878487e-01 5.48748218e-03 -4.70282461e-02 -6.70285017e+00] [-5.83482243e-03 9.99956683e-01 -7.25168721e-03 -2.03360895e-01] [ 4.69864155e-02 7.51795582e-03 9.98867237e-01 1.16444517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36255784399998 meters Centerline goodness : 0.129956 with order 3 Centerline is valid? [False, False] Translation: X:-6.70, Y:-0.20, Z:1.16 [[ 9.98879213e-01 5.62121817e-03 -4.69970098e-02 -6.70275558e+00] [-5.97271830e-03 9.99955209e-01 -7.34212157e-03 -2.02108581e-01] [ 4.69536331e-02 7.61459252e-03 9.98868046e-01 1.16407074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42255784399998 meters Centerline goodness : 0.386449 with order 1 Centerline is valid? [False, False] Translation: X:-6.70, Y:-0.20, Z:1.16 [[ 9.98878561e-01 5.54380334e-03 -4.70200683e-02 -6.70256873e+00] [-5.90314518e-03 9.99954399e-01 -7.50689310e-03 -2.01458552e-01] [ 4.69763074e-02 7.77604086e-03 9.98865737e-01 1.16382802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48255784399998 meters Centerline goodness : 0.128067 with order 3 Centerline is valid? [False, False] Translation: X:-6.70, Y:-0.20, Z:1.16 [[ 9.98876883e-01 5.30238651e-03 -4.70835201e-02 -6.70214249e+00] [-5.68659485e-03 9.99951590e-01 -8.02995006e-03 -1.99207753e-01] [ 4.70386629e-02 8.28867639e-03 9.98858680e-01 1.16335493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542557844 meters Centerline goodness : 0.129562 with order 3 Centerline is valid? [False, False] Translation: X:-6.70, Y:-0.20, Z:1.16 [[ 9.98881750e-01 5.20961269e-03 -4.69905354e-02 -6.70231676e+00] [-5.60660874e-03 9.99949666e-01 -8.32058381e-03 -1.97552380e-01] [ 4.69448231e-02 8.57473686e-03 9.98860680e-01 1.16316487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602557844 meters Centerline goodness : 0.381471 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.19, Z:1.17 [[ 9.98955279e-01 3.49970573e-03 -4.55642640e-02 -6.70866959e+00] [-3.96193479e-03 9.99941566e-01 -1.00581992e-02 -1.94756232e-01] [ 4.55264007e-02 1.02282139e-02 9.98910772e-01 1.16633666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662557844 meters Centerline goodness : 0.382505 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.19, Z:1.17 [[ 9.98961282e-01 3.44667454e-03 -4.54365183e-02 -6.70881576e+00] [-3.91671844e-03 9.99939693e-01 -1.02601039e-02 -1.93428543e-01] [ 4.53984149e-02 1.04274086e-02 9.98914537e-01 1.16601871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722557844 meters Centerline goodness : 0.386693 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.19, Z:1.17 [[ 9.98941061e-01 3.06249516e-03 -4.59061904e-02 -6.70730428e+00] [-3.58803581e-03 9.99928921e-01 -1.13701183e-02 -1.88616830e-01] [ 4.58681065e-02 1.15227911e-02 9.98881045e-01 1.16541475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782557844 meters Centerline goodness : 0.137980 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.18, Z:1.17 [[ 0.99892505 0.00695504 -0.04582983 -6.7079033 ] [-0.00734853 0.99993752 -0.00842294 -0.18276827] [ 0.04576838 0.00875067 0.99891375 1.16589258] [ 0. 0. 0. 1. ]] SLAMing on 168.842557844 meters Centerline goodness : 0.140702 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.18, Z:1.17 [[ 0.9989443 0.00672495 -0.04544292 -6.7093026 ] [-0.00714046 0.99993412 -0.00898736 -0.17994289] [ 0.04537949 0.00930236 0.99892651 1.16645095] [ 0. 0. 0. 1. ]] SLAMing on 168.902557844 meters Centerline goodness : 0.387544 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.18, Z:1.17 [[ 9.98975619e-01 6.36613854e-03 -4.48016078e-02 -6.71144976e+00] [-6.77195559e-03 9.99937355e-01 -8.91215329e-03 -1.81389197e-01] [ 4.47420653e-02 9.20641836e-03 9.98956150e-01 1.16740504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96255784399997 meters Centerline goodness : 0.394310 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.19, Z:1.17 [[ 9.99016886e-01 2.18552791e-03 -4.42773611e-02 -6.71293290e+00] [-2.71564943e-03 9.99925313e-01 -1.19161338e-02 -1.87039324e-01] [ 4.42480111e-02 1.20246607e-02 9.98948207e-01 1.16777325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02255784399998 meters Centerline goodness : 0.265120 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.19, Z:1.17 [[ 9.98988609e-01 2.27988497e-03 -4.49061474e-02 -6.71110007e+00] [-2.78305312e-03 9.99934013e-01 -1.11455528e-02 -1.91247404e-01] [ 4.48777736e-02 1.12592564e-02 9.98929034e-01 1.16757250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08255784399998 meters Centerline goodness : 0.112416 with order 1 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.20, Z:1.17 [[ 9.98840487e-01 3.75888084e-03 -4.79953443e-02 -6.75545337e+00] [-4.17374426e-03 9.99954767e-01 -8.54653581e-03 -1.99709556e-01] [ 4.79610480e-02 8.73694628e-03 9.98810995e-01 1.16658711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14255784399998 meters Centerline goodness : 0.389558 with order 1 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.20, Z:1.17 [[ 9.98755522e-01 -9.12253932e-04 -4.98655745e-02 -6.73277007e+00] [ 6.34652098e-04 9.99984216e-01 -5.58255365e-03 -1.97321447e-01] [ 4.98698801e-02 5.54395899e-03 9.98740336e-01 1.16735642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20255784399998 meters Centerline goodness : 0.243619 with order 1 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.20, Z:1.17 [[ 9.98721134e-01 -7.54474021e-04 -5.05522219e-02 -6.72981761e+00] [ 4.79822481e-04 9.99985061e-01 -5.44494163e-03 -1.98484943e-01] [ 5.05555748e-02 5.41372219e-03 9.98706576e-01 1.16553182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26255784399999 meters Centerline goodness : 0.386101 with order 1 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.20, Z:1.17 [[ 9.98715485e-01 -5.54854731e-04 -5.06662883e-02 -6.72981500e+00] [ 3.07240182e-04 9.99987973e-01 -4.89482333e-03 -2.01374107e-01] [ 5.06683949e-02 4.87296914e-03 9.98703644e-01 1.16597706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322557844 meters Centerline goodness : 0.158412 with order 3 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.20, Z:1.17 [[ 9.98724841e-01 -3.80262796e-04 -5.04831315e-02 -6.73070994e+00] [ 1.53196056e-04 9.99989856e-01 -4.50166671e-03 -2.02759251e-01] [ 5.04843312e-02 4.48819255e-03 9.98714768e-01 1.16666307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382557844 meters Centerline goodness : 0.386109 with order 1 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.21, Z:1.17 [[ 9.98721991e-01 -4.68641748e-03 -5.03231837e-02 -6.73105102e+00] [ 4.27418760e-03 9.99956452e-01 -8.29614146e-03 -2.05003749e-01] [ 5.03598714e-02 8.07044818e-03 9.98698529e-01 1.16664596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442557844 meters Centerline goodness : 0.386812 with order 1 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.21, Z:1.17 [[ 9.98727765e-01 -4.57414110e-03 -5.02188080e-02 -6.73147853e+00] [ 4.18646685e-03 9.99960643e-01 -7.82217671e-03 -2.07247664e-01] [ 5.02526112e-02 7.60198569e-03 9.98707607e-01 1.16695990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502557844 meters Centerline goodness : 0.185476 with order 3 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.21, Z:1.17 [[ 0.99872646 -0.00874384 -0.04968903 -6.73320547] [ 0.00820289 0.99990497 -0.01108013 -0.21200073] [ 0.04978119 0.01065843 0.99870327 1.16772715] [ 0. 0. 0. 1. ]] SLAMing on 169.562557844 meters Centerline goodness : 0.133405 with order 3 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.22, Z:1.17 [[ 0.99875119 -0.00835507 -0.04925694 -6.73477362] [ 0.00786549 0.99991781 -0.01012464 -0.21594086] [ 0.04933749 0.00972456 0.99873482 1.16848997] [ 0. 0. 0. 1. ]] SLAMing on 169.622557844 meters Centerline goodness : 0.129738 with order 3 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.22, Z:1.17 [[ 0.99872937 -0.00814574 -0.04973217 -6.73291459] [ 0.0076783 0.9999246 -0.00958299 -0.21891471] [ 0.04980648 0.00918895 0.99871662 1.16759632] [ 0. 0. 0. 1. ]] SLAMing on 169.682557844 meters Centerline goodness : 0.132659 with order 3 Centerline is valid? [False, False] Translation: X:-6.74, Y:-0.22, Z:1.17 [[ 0.99875827 -0.00787313 -0.04919273 -6.73507263] [ 0.00743891 0.9999318 -0.00900376 -0.22168805] [ 0.04926026 0.00862664 0.99874872 1.16878496] [ 0. 0. 0. 1. ]] SLAMing on 169.74255784399998 meters Centerline goodness : 0.134482 with order 3 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.23, Z:1.17 [[ 9.98721864e-01 3.74075067e-04 -5.05420501e-02 -6.75441652e+00] [-8.64393332e-04 9.99952777e-01 -9.67968488e-03 -2.27540157e-01] [ 5.05360424e-02 9.71100114e-03 9.98675025e-01 1.16655571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80255784399998 meters Centerline goodness : 0.132802 with order 3 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.23, Z:1.17 [[ 9.98671636e-01 5.22725652e-04 -5.15236817e-02 -6.75145744e+00] [-1.03393433e-03 9.99950502e-01 -9.89566528e-03 -2.26091644e-01] [ 5.15159587e-02 9.93579234e-03 9.98622745e-01 1.16567593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86255784399998 meters Centerline goodness : 0.127197 with order 3 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.22, Z:1.17 [[ 9.98687031e-01 5.26206311e-04 -5.12243769e-02 -6.75245933e+00] [-1.04840069e-03 9.99947756e-01 -1.01679198e-02 -2.24494972e-01] [ 5.12163503e-02 1.02082733e-02 9.98635407e-01 1.16602874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92255784399998 meters Centerline goodness : 0.134287 with order 3 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.22, Z:1.16 [[ 9.98668714e-01 8.62962236e-04 -5.15757263e-02 -6.75087019e+00] [-1.40342959e-03 9.99944477e-01 -1.04438064e-02 -2.21157830e-01] [ 5.15638501e-02 1.05022856e-02 9.98614476e-01 1.16480192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98255784399998 meters Centerline goodness : 0.201000 with order 3 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.22, Z:1.16 [[ 9.98676654e-01 6.65705653e-04 -5.14246730e-02 -6.75123690e+00] [-1.23926619e-03 9.99937377e-01 -1.11223313e-02 -2.17521846e-01] [ 5.14140485e-02 1.11713414e-02 9.98614939e-01 1.16470332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042557844 meters Centerline goodness : 0.126482 with order 3 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.21, Z:1.17 [[ 9.98700436e-01 2.27785434e-04 -5.09645609e-02 -6.75303863e+00] [-8.52808670e-04 9.99924694e-01 -1.22424700e-02 -2.11816378e-01] [ 5.09579343e-02 1.22700232e-02 9.98625423e-01 1.16555064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102557844 meters Centerline goodness : 0.392180 with order 1 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.21, Z:1.17 [[ 9.98703907e-01 -1.28138890e-04 -5.08968525e-02 -6.75328193e+00] [-5.33555147e-04 9.99915524e-01 -1.29868871e-02 -2.08515714e-01] [ 5.08942171e-02 1.29972111e-02 9.98619473e-01 1.16561990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162557844 meters Centerline goodness : 0.179656 with order 3 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.20, Z:1.17 [[ 0.9986908 -0.00810325 -0.05050772 -6.73385038] [ 0.00749738 0.99989779 -0.01217355 -0.20128817] [ 0.0506012 0.01177893 0.99864948 1.16824459] [ 0. 0. 0. 1. ]] SLAMing on 170.222557844 meters Centerline goodness : 0.158512 with order 1 Centerline is valid? [False, False] Translation: X:-6.74, Y:-0.20, Z:1.17 [[ 0.99872732 -0.00841053 -0.04972923 -6.73653468] [ 0.00782281 0.99989738 -0.01200143 -0.20264428] [ 0.04982507 0.01159713 0.99869063 1.16953726] [ 0. 0. 0. 1. ]] SLAMing on 170.282557844 meters Centerline goodness : 0.163737 with order 1 Centerline is valid? [False, False] Translation: X:-6.74, Y:-0.20, Z:1.17 [[ 0.99871761 -0.00844203 -0.04991861 -6.73610771] [ 0.00785929 0.9998988 -0.01185854 -0.20373297] [ 0.05001367 0.01145101 0.99868289 1.16967738] [ 0. 0. 0. 1. ]] SLAMing on 170.342557844 meters Centerline goodness : 0.134522 with order 3 Centerline is valid? [False, False] Translation: X:-6.74, Y:-0.21, Z:1.17 [[ 0.9987162 -0.00876001 -0.04989203 -6.73643079] [ 0.00818952 0.99989886 -0.01162741 -0.20643788] [ 0.04998884 0.01120389 0.99868693 1.17018788] [ 0. 0. 0. 1. ]] SLAMing on 170.402557844 meters Centerline goodness : 0.132449 with order 3 Centerline is valid? [False, False] Translation: X:-6.72, Y:-0.21, Z:1.17 [[ 9.98909022e-01 -4.01129185e-04 -4.66969392e-02 -6.71769498e+00] [-1.79757761e-04 9.99922671e-01 -1.24346440e-02 -2.09861874e-01] [ 4.66983161e-02 1.24294722e-02 9.98831705e-01 1.17141108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46255784399997 meters Centerline goodness : 0.162996 with order 3 Centerline is valid? [False, False] Translation: X:-6.72, Y:-0.21, Z:1.17 [[ 9.98909338e-01 -2.07378459e-04 -4.66914534e-02 -6.71748316e+00] [-3.78267736e-04 9.99921378e-01 -1.25337141e-02 -2.08767819e-01] [ 4.66903817e-02 1.25377059e-02 9.98830723e-01 1.17097754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52255784399998 meters Centerline goodness : 0.388630 with order 1 Centerline is valid? [False, False] Translation: X:-6.72, Y:-0.21, Z:1.17 [[ 9.98870115e-01 1.35937836e-04 -4.75234108e-02 -6.71501163e+00] [-7.37983733e-04 9.99919699e-01 -1.26510906e-02 -2.07175979e-01] [ 4.75178749e-02 1.26718678e-02 9.98790006e-01 1.17024008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58255784399998 meters Centerline goodness : 0.131230 with order 3 Centerline is valid? [False, False] Translation: X:-6.72, Y:-0.21, Z:1.17 [[ 9.98874233e-01 5.54745493e-04 -4.74337217e-02 -6.71526752e+00] [-1.16192508e-03 9.99917734e-01 -1.27739749e-02 -2.05622845e-01] [ 4.74227332e-02 1.28147089e-02 9.98792705e-01 1.17008371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64255784399998 meters Centerline goodness : 0.191828 with order 3 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.20, Z:1.17 [[ 9.98868848e-01 6.14718848e-04 -4.75462487e-02 -6.71476258e+00] [-1.23075098e-03 9.99915669e-01 -1.29282925e-02 -2.04314261e-01] [ 4.75342918e-02 1.29721863e-02 9.98785369e-01 1.16958972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70255784399998 meters Centerline goodness : 0.154959 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.21, Z:1.17 [[ 9.98863283e-01 6.91134495e-04 -4.76619789e-02 -6.71474383e+00] [-1.28871156e-03 9.99920939e-01 -1.25082261e-02 -2.06574255e-01] [ 4.76495658e-02 1.25554303e-02 9.98785202e-01 1.17012281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76255784399999 meters Centerline goodness : 0.132547 with order 3 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.21, Z:1.17 [[ 9.98832281e-01 4.04319008e-04 -4.83105739e-02 -6.71271892e+00] [-9.89842415e-04 9.99926343e-01 -1.20966754e-02 -2.10353448e-01] [ 4.83021245e-02 1.21303697e-02 9.98759110e-01 1.16969876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822557844 meters Centerline goodness : 0.132386 with order 3 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.21, Z:1.17 [[ 9.98808807e-01 5.76580671e-04 -4.87917495e-02 -6.71130856e+00] [-1.14121218e-03 9.99932701e-01 -1.15452082e-02 -2.13142905e-01] [ 4.87818091e-02 1.15871374e-02 9.98742246e-01 1.16945094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.882557844 meters Centerline goodness : 0.133661 with order 3 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.22, Z:1.17 [[ 9.98813321e-01 6.04616206e-04 -4.86989191e-02 -6.71174845e+00] [-1.12297879e-03 9.99943001e-01 -1.06175750e-02 -2.19635485e-01] [ 4.86897238e-02 1.06596632e-02 9.98757069e-01 1.16988338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942557844 meters Centerline goodness : 0.132822 with order 3 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.22, Z:1.17 [[ 9.98839958e-01 9.13643489e-04 -4.81446102e-02 -6.71337831e+00] [-1.37782760e-03 9.99952882e-01 -9.60915076e-03 -2.24683051e-01] [ 4.81335624e-02 9.66433872e-03 9.98794153e-01 1.17033514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002557844 meters Centerline goodness : 0.135523 with order 3 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.23, Z:1.17 [[ 9.98829647e-01 1.32463196e-03 -4.83485367e-02 -6.71292729e+00] [-1.73743965e-03 9.99962389e-01 -8.49713619e-03 -2.30481905e-01] [ 4.83354627e-02 8.57119421e-03 9.98794382e-01 1.17054139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062557844 meters Centerline goodness : 0.133594 with order 3 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.23, Z:1.17 [[ 9.98828366e-01 1.56871699e-03 -4.83676975e-02 -6.71289337e+00] [-1.95987231e-03 9.99965752e-01 -8.04075466e-03 -2.32544901e-01] [ 4.83534274e-02 8.12612835e-03 9.98797233e-01 1.17056685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122557844 meters Centerline goodness : 0.129471 with order 3 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.23, Z:1.17 [[ 9.98836600e-01 2.28471791e-03 -4.81687312e-02 -6.71338879e+00] [-2.65242642e-03 9.99967820e-01 -7.57122278e-03 -2.33065956e-01] [ 4.81498830e-02 7.69017843e-03 9.98810518e-01 1.17038915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182557844 meters Centerline goodness : 0.174801 with order 3 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.24, Z:1.17 [[ 9.98847801e-01 2.50451261e-03 -4.79249275e-02 -6.71444180e+00] [-2.83316994e-03 9.99972927e-01 -6.79105360e-03 -2.37521199e-01] [ 4.79066218e-02 6.91900841e-03 9.98827854e-01 1.17106731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24255784399998 meters Centerline goodness : 0.133705 with order 3 Centerline is valid? [False, False] Translation: X:-6.74, Y:-0.24, Z:1.17 [[ 9.98753324e-01 -7.56127030e-03 -4.93419266e-02 -6.73632901e+00] [ 7.26719873e-03 9.99954764e-01 -6.13655358e-03 -2.40829226e-01] [ 4.93860947e-02 5.77032570e-03 9.98763094e-01 1.17032208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30255784399998 meters Centerline goodness : 0.135939 with order 3 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.25, Z:1.17 [[ 0.99870804 -0.01049141 -0.04972099 -6.73393633] [ 0.01011849 0.9999188 -0.00774602 -0.24921441] [ 0.04979822 0.00723291 0.99873311 1.1691437 ] [ 0. 0. 0. 1. ]] SLAMing on 171.36255784399998 meters Centerline goodness : 0.139676 with order 3 Centerline is valid? [False, False] Translation: X:-6.73, Y:-0.25, Z:1.17 [[ 9.98696064e-01 -1.03040319e-02 -4.99999770e-02 -6.73315656e+00] [ 9.95829277e-03 9.99924788e-01 -7.15898623e-03 -2.52016683e-01] [ 5.00699828e-02 6.65173696e-03 9.98723561e-01 1.16908846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42255784399998 meters Centerline goodness : 0.135169 with order 3 Centerline is valid? [False, False] Translation: X:-6.74, Y:-0.25, Z:1.17 [[ 9.98726280e-01 -1.02952438e-02 -4.93945974e-02 -6.73527890e+00] [ 9.97562344e-03 9.99927709e-01 -6.71292593e-03 -2.54639465e-01] [ 4.94601378e-02 6.21163364e-03 9.98756782e-01 1.17009024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48255784399998 meters Centerline goodness : 0.137088 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.26, Z:1.17 [[ 9.98716154e-01 -5.37802686e-03 -5.03698311e-02 -6.75758374e+00] [ 4.87115283e-03 9.99936314e-01 -1.01804061e-02 -2.58805686e-01] [ 5.04213737e-02 9.92197686e-03 9.98678747e-01 1.16909904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542557844 meters Centerline goodness : 0.139859 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.26, Z:1.17 [[ 9.98691664e-01 -5.94859830e-03 -5.07895188e-02 -6.75636065e+00] [ 5.44772297e-03 9.99935214e-01 -9.99453071e-03 -2.61317692e-01] [ 5.08456818e-02 9.70476727e-03 9.98659368e-01 1.16885673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602557844 meters Centerline goodness : 0.161326 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.26, Z:1.17 [[ 9.98714648e-01 -6.51361419e-03 -5.02655350e-02 -6.75814219e+00] [ 6.02698960e-03 9.99933555e-01 -9.82658576e-03 -2.63939953e-01] [ 5.03262017e-02 9.51100529e-03 9.98687546e-01 1.16969771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662557844 meters Centerline goodness : 0.161172 with order 1 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.27, Z:1.17 [[ 0.99877415 -0.01034917 -0.04840544 -6.76417229] [ 0.00980302 0.99988574 -0.01150682 -0.27198325] [ 0.04851899 0.01101819 0.99876149 1.16985548] [ 0. 0. 0. 1. ]] SLAMing on 171.722557844 meters Centerline goodness : 0.136613 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.28, Z:1.17 [[ 0.99877642 -0.01079019 -0.04826214 -6.76469043] [ 0.01028013 0.99988879 -0.01080421 -0.27537858] [ 0.04837335 0.01029485 0.99877627 1.16906218] [ 0. 0. 0. 1. ]] SLAMing on 171.782557844 meters Centerline goodness : 0.139775 with order 2 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.28, Z:1.17 [[ 0.99870392 -0.01133954 -0.0496174 -6.76119249] [ 0.01081748 0.99988341 -0.01077762 -0.2769626 ] [ 0.04973383 0.01022692 0.99871015 1.16818719] [ 0. 0. 0. 1. ]] SLAMing on 171.842557844 meters Centerline goodness : 0.146129 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.28, Z:1.17 [[ 0.99872009 -0.01148156 -0.04925811 -6.76205096] [ 0.01098986 0.99988716 -0.01024145 -0.27881782] [ 0.04937014 0.009687 0.99873357 1.1672511 ] [ 0. 0. 0. 1. ]] SLAMing on 171.902557844 meters Centerline goodness : 0.174503 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.28, Z:1.17 [[ 0.99862207 -0.01512558 -0.0502512 -6.75900371] [ 0.01451386 0.99981633 -0.01251597 -0.28448484] [ 0.05043128 0.01176939 0.99865818 1.16528549] [ 0. 0. 0. 1. ]] SLAMing on 171.96255784399997 meters Centerline goodness : 0.144070 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.29, Z:1.17 [[ 0.99865316 -0.01566967 -0.04946028 -6.76203504] [ 0.01509712 0.99981488 -0.01192844 -0.28747717] [ 0.04963804 0.01116566 0.99870486 1.16551524] [ 0. 0. 0. 1. ]] SLAMing on 172.02255784399998 meters Centerline goodness : 0.246979 with order 3 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.30, Z:1.17 [[ 0.99897867 -0.01246089 -0.04343213 -6.74690636] [ 0.01181921 0.99981764 -0.01499986 -0.29571685] [ 0.04361112 0.01447121 0.99894377 1.16502849] [ 0. 0. 0. 1. ]] SLAMing on 172.08255784399998 meters Centerline goodness : 0.119158 with order 1 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.30, Z:1.16 [[ 0.99897938 -0.01208089 -0.04352289 -6.74555253] [ 0.01147718 0.9998348 -0.01409433 -0.29825721] [ 0.04368598 0.01358043 0.99895301 1.16337653] [ 0. 0. 0. 1. ]] SLAMing on 172.14255784399998 meters Centerline goodness : 0.107847 with order 1 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.30, Z:1.16 [[ 9.98970757e-01 -2.36934454e-03 -4.52969304e-02 -6.75924748e+00] [ 1.65756867e-03 9.99874671e-01 -1.57446644e-02 -3.04763696e-01] [ 4.53285579e-02 1.56533766e-02 9.98849485e-01 1.16213684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20255784399998 meters Centerline goodness : 0.139472 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.31, Z:1.16 [[ 9.98963911e-01 -2.38674682e-03 -4.54467496e-02 -6.75911916e+00] [ 1.68236821e-03 9.99877972e-01 -1.55309333e-02 -3.05633496e-01] [ 4.54782723e-02 1.54383837e-02 9.98846026e-01 1.16253495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26255784399999 meters Centerline goodness : 0.138008 with order 3 Centerline is valid? [False, False] Translation: X:-6.76, Y:-0.31, Z:1.16 [[ 9.98977013e-01 -2.16610070e-03 -4.51689555e-02 -6.76024649e+00] [ 1.49157233e-03 9.99886953e-01 -1.49618106e-02 -3.07567031e-01] [ 4.51962581e-02 1.48791321e-02 9.98867313e-01 1.16307492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322557844 meters Centerline goodness : 0.150650 with order 2 Centerline is valid? [False, False] Translation: X:-6.81, Y:-0.31, Z:1.16 [[ 9.98866920e-01 -3.56150650e-03 -4.74572550e-02 -6.80532121e+00] [ 2.86848076e-03 9.99888374e-01 -1.46632670e-02 -3.08968743e-01] [ 4.75041808e-02 1.45105221e-02 9.98765637e-01 1.16204439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382557844 meters Centerline goodness : 0.142014 with order 3 Centerline is valid? [False, False] Translation: X:-6.80, Y:-0.31, Z:1.16 [[ 9.98861128e-01 -3.36055609e-03 -4.75936338e-02 -6.80430533e+00] [ 2.69195154e-03 9.99896891e-01 -1.41053284e-02 -3.10573813e-01] [ 4.76361282e-02 1.39611445e-02 9.98767183e-01 1.16091407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442557844 meters Centerline goodness : 0.140809 with order 3 Centerline is valid? [False, False] Translation: X:-6.80, Y:-0.31, Z:1.16 [[ 9.98854635e-01 4.01200559e-04 -4.78461847e-02 -6.80331159e+00] [-9.18289945e-04 9.99941410e-01 -1.07858363e-02 -3.08585416e-01] [ 4.78390541e-02 1.08174193e-02 9.98796480e-01 1.16051720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502557844 meters Centerline goodness : 0.135219 with order 2 Centerline is valid? [False, False] Translation: X:-6.80, Y:-0.31, Z:1.16 [[ 9.98760028e-01 2.73852607e-03 -4.97082274e-02 -6.79709386e+00] [-3.16310499e-03 9.99959170e-01 -8.46476729e-03 -3.06034067e-01] [ 4.96830168e-02 8.61150355e-03 9.98727911e-01 1.15903828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562557844 meters Centerline goodness : 0.144728 with order 2 Centerline is valid? [False, False] Translation: X:-6.84, Y:-0.30, Z:1.16 [[ 9.98580043e-01 2.06005019e-03 -5.32320726e-02 -6.84174474e+00] [-2.48883087e-03 9.99964983e-01 -7.98989706e-03 -3.04109041e-01] [ 5.32137489e-02 8.11103737e-03 9.98550203e-01 1.15850951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622557844 meters Centerline goodness : 0.173026 with order 3 Centerline is valid? [False, False] Translation: X:-6.84, Y:-0.30, Z:1.16 [[ 9.98611828e-01 2.06755242e-03 -5.26321446e-02 -6.84365674e+00] [-2.49185463e-03 9.99964916e-01 -7.99731087e-03 -3.02672964e-01] [ 5.26137632e-02 8.11736087e-03 9.98581945e-01 1.15942139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682557844 meters Centerline goodness : 0.135534 with order 3 Centerline is valid? [False, False] Translation: X:-6.84, Y:-0.30, Z:1.16 [[ 9.98601975e-01 1.95843043e-03 -5.28229162e-02 -6.84280060e+00] [-2.38357066e-03 9.99965266e-01 -7.98660864e-03 -3.01755274e-01] [ 5.28054402e-02 8.10135031e-03 9.98571957e-01 1.15889049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74255784399998 meters Centerline goodness : 0.138264 with order 3 Centerline is valid? [False, False] Translation: X:-6.82, Y:-0.30, Z:1.16 [[ 9.98728388e-01 -5.95505421e-03 -5.00614105e-02 -6.82445183e+00] [ 5.63168820e-03 9.99962375e-01 -6.59796175e-03 -3.00955452e-01] [ 5.00988181e-02 6.30764145e-03 9.98724347e-01 1.16078396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80255784399998 meters Centerline goodness : 0.140673 with order 3 Centerline is valid? [False, False] Translation: X:-6.83, Y:-0.30, Z:1.16 [[ 9.98738508e-01 -6.02379641e-03 -4.98508422e-02 -6.82502756e+00] [ 5.70288027e-03 9.99962108e-01 -6.57726158e-03 -3.00361593e-01] [ 4.98885733e-02 6.28467104e-03 9.98735016e-01 1.16083804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86255784399998 meters Centerline goodness : 0.139409 with order 3 Centerline is valid? [False, False] Translation: X:-6.82, Y:-0.30, Z:1.16 [[ 9.98718273e-01 -6.22216848e-03 -5.02304297e-02 -6.82361850e+00] [ 5.88884623e-03 9.99959668e-01 -6.78113232e-03 -2.98618396e-01] [ 5.02705971e-02 6.47664148e-03 9.98714634e-01 1.16020472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92255784399998 meters Centerline goodness : 0.132749 with order 3 Centerline is valid? [False, False] Translation: X:-6.82, Y:-0.29, Z:1.16 [[ 9.98740487e-01 -2.45204377e-03 -5.01141333e-02 -6.82444157e+00] [ 2.26450734e-03 9.99990221e-01 -3.79862159e-03 -2.93014811e-01] [ 5.01229576e-02 3.68035335e-03 9.98736274e-01 1.16097116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98255784399998 meters Centerline goodness : 0.150281 with order 2 Centerline is valid? [False, False] Translation: X:-6.83, Y:-0.28, Z:1.16 [[ 9.98821960e-01 -8.13950038e-04 -4.85183369e-02 -6.83033006e+00] [ 6.55401703e-04 9.99994394e-01 -3.28362164e-03 -2.82121804e-01] [ 4.85207376e-02 3.24795441e-03 9.98816895e-01 1.16306304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042557844 meters Centerline goodness : 0.135356 with order 3 Centerline is valid? [False, False] Translation: X:-6.85, Y:-0.27, Z:1.16 [[ 9.98829476e-01 -9.87066927e-03 -4.73523804e-02 -6.85047186e+00] [ 9.73501679e-03 9.99947825e-01 -3.09451291e-03 -2.72209982e-01] [ 4.73804547e-02 2.62991449e-03 9.98873453e-01 1.16014787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102557844 meters Centerline goodness : 0.231956 with order 3 Centerline is valid? [False, False] Translation: X:-6.85, Y:-0.27, Z:1.16 [[ 9.98752052e-01 -1.16125463e-02 -4.85745577e-02 -6.84610303e+00] [ 1.14146703e-02 9.99925393e-01 -4.34907857e-03 -2.68431977e-01] [ 4.86214375e-02 3.78918858e-03 9.98810091e-01 1.15851832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162557844 meters Centerline goodness : 0.116020 with order 1 Centerline is valid? [False, False] Translation: X:-6.84, Y:-0.27, Z:1.16 [[ 9.98639714e-01 -1.30645376e-02 -5.04781146e-02 -6.83936456e+00] [ 1.27925136e-02 9.99901879e-01 -5.70828870e-03 -2.65510694e-01] [ 5.05477378e-02 5.05478182e-03 9.98708854e-01 1.15595166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222557844 meters Centerline goodness : 0.226957 with order 3 Centerline is valid? [False, False] Translation: X:-6.86, Y:-0.27, Z:1.15 [[ 9.98733839e-01 -5.84567491e-03 -4.99654533e-02 -6.85905215e+00] [ 5.52268574e-03 9.99962970e-01 -6.59986624e-03 -2.67024731e-01] [ 5.00021838e-02 6.31556625e-03 9.98729140e-01 1.15356464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282557844 meters Centerline goodness : 0.114468 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:-0.27, Z:1.15 [[ 9.98757642e-01 -6.07057899e-03 -4.94602949e-02 -6.86054991e+00] [ 5.73180131e-03 9.99959153e-01 -6.98844725e-03 -2.65579189e-01] [ 4.95006985e-02 6.69626852e-03 9.98751641e-01 1.15390527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342557844 meters Centerline goodness : 0.116031 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:-0.26, Z:1.16 [[ 9.98811952e-01 -3.55234785e-03 -4.86010750e-02 -6.86407992e+00] [ 3.29374037e-03 9.99979995e-01 -5.40007675e-03 -2.58144347e-01] [ 4.86192857e-02 5.23358188e-03 9.98803672e-01 1.15535227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402557844 meters Centerline goodness : 0.182719 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:-0.25, Z:1.15 [[ 9.98812360e-01 2.50412222e-04 -4.87217190e-02 -6.86345144e+00] [-3.59157807e-04 9.99997464e-01 -2.22323171e-03 -2.54791510e-01] [ 4.87210387e-02 2.23809010e-03 9.98809918e-01 1.15496142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46255784399997 meters Centerline goodness : 0.220637 with order 1 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.25, Z:1.15 [[ 9.98632457e-01 1.28453132e-03 -5.22643862e-02 -6.90527679e+00] [-1.37006461e-03 9.99997780e-01 -1.60075589e-03 -2.45017876e-01] [ 5.22622140e-02 1.67017238e-03 9.98632000e-01 1.15296427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52255784399998 meters Centerline goodness : 0.184155 with order 1 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.24, Z:1.15 [[ 9.98628535e-01 1.06730514e-03 -5.23441417e-02 -6.90519382e+00] [-1.16505982e-03 9.99997634e-01 -1.83706062e-03 -2.43931439e-01] [ 5.23420571e-02 1.89552522e-03 9.98627416e-01 1.15302357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58255784399998 meters Centerline goodness : 0.106283 with order 2 Centerline is valid? [False, False] Translation: X:-6.90, Y:-0.25, Z:1.15 [[ 9.98609417e-01 7.13896247e-04 -5.27135826e-02 -6.90438217e+00] [-7.96727395e-04 9.99998481e-01 -1.55034650e-03 -2.46302377e-01] [ 5.27123958e-02 1.59018897e-03 9.98608469e-01 1.15303692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64255784399998 meters Centerline goodness : 0.177750 with order 1 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.25, Z:1.15 [[ 9.98649058e-01 -2.32534452e-06 -5.19620992e-02 -6.90620696e+00] [-8.43471165e-05 9.99998609e-01 -1.66580086e-03 -2.48608410e-01] [ 5.19620308e-02 1.66793332e-03 9.98647668e-01 1.15283011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70255784399998 meters Centerline goodness : 0.113063 with order 2 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.25, Z:1.15 [[ 9.98689425e-01 3.53589751e-03 -5.10581037e-02 -6.90961229e+00] [-3.46793006e-03 9.99992979e-01 1.41970802e-03 -2.46487890e-01] [ 5.10627652e-02 -1.24078145e-03 9.98694675e-01 1.15432040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76255784399999 meters Centerline goodness : 0.174249 with order 1 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.24, Z:1.15 [[ 9.98681534e-01 3.49711967e-03 -5.12148809e-02 -6.90922874e+00] [-3.45244551e-03 9.99993579e-01 9.60729157e-04 -2.43861068e-01] [ 5.12179119e-02 -7.82645882e-04 9.98687195e-01 1.15438439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822557844 meters Centerline goodness : 0.171266 with order 1 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.24, Z:1.16 [[ 9.98711542e-01 3.44996367e-03 -5.06295633e-02 -6.91115298e+00] [-3.41598406e-03 9.99993878e-01 7.57656959e-04 -2.42796734e-01] [ 5.06318672e-02 -5.83730970e-04 9.98717214e-01 1.15504715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882557844 meters Centerline goodness : 0.171771 with order 1 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.24, Z:1.15 [[ 9.98710031e-01 3.34828698e-03 -5.06661998e-02 -6.91090701e+00] [-3.30648807e-03 9.99994121e-01 9.08781178e-04 -2.44263657e-01] [ 5.06689448e-02 -7.40081692e-04 9.98715230e-01 1.15465648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942557844 meters Centerline goodness : 0.409780 with order 3 Centerline is valid? [False, False] Translation: X:-6.96, Y:-0.24, Z:1.15 [[ 9.98574803e-01 3.74852295e-03 -5.32382551e-02 -6.95650922e+00] [-3.62169220e-03 9.99990370e-01 2.47859884e-03 -2.42945975e-01] [ 5.32470335e-02 -2.28225378e-03 9.98578762e-01 1.15389603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002557844 meters Centerline goodness : 0.326360 with order 1 Centerline is valid? [False, False] Translation: X:-6.96, Y:-0.24, Z:1.15 [[ 9.98567571e-01 3.59764156e-03 -5.33841066e-02 -6.95599726e+00] [-3.47229538e-03 9.99990993e-01 2.44056900e-03 -2.43356696e-01] [ 5.33924060e-02 -2.25170768e-03 9.98571069e-01 1.15361745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062557844 meters Centerline goodness : 0.156942 with order 3 Centerline is valid? [False, False] Translation: X:-6.96, Y:-0.24, Z:1.15 [[ 9.98561185e-01 3.37461953e-03 -5.35179480e-02 -6.95506702e+00] [-3.26001090e-03 9.99992203e-01 2.22865172e-03 -2.42868379e-01] [ 5.35250516e-02 -2.05097601e-03 9.98564401e-01 1.15259355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122557844 meters Centerline goodness : 0.108172 with order 2 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98552739e-01 -4.86660999e-03 -5.35606477e-02 -6.97445408e+00] [ 5.05937643e-03 9.99981201e-01 3.46402992e-03 -2.36073417e-01] [ 5.35427828e-02 -3.73000005e-03 9.98558590e-01 1.15028510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182557844 meters Centerline goodness : 0.169633 with order 1 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98522934e-01 -5.63034762e-03 -5.40393236e-02 -6.97300262e+00] [ 5.82798265e-03 9.99976891e-01 3.50035527e-03 -2.38715873e-01] [ 5.40183666e-02 -3.81012526e-03 9.98532673e-01 1.14965080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24255784399998 meters Centerline goodness : 0.171167 with order 1 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98475312e-01 -8.73742928e-03 -5.45042076e-02 -6.96947330e+00] [ 8.81579048e-03 9.99960423e-01 1.19744266e-03 -2.43648244e-01] [ 5.44915879e-02 -1.67611460e-03 9.98512823e-01 1.14698194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30255784399998 meters Centerline goodness : 0.168180 with order 1 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.25, Z:1.15 [[ 9.98473080e-01 -8.43450386e-03 -5.45927521e-02 -6.96905958e+00] [ 8.54802509e-03 9.99961761e-01 1.84624516e-03 -2.46481670e-01] [ 5.45750924e-02 -2.31008631e-03 9.98506997e-01 1.14662363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36255784399998 meters Centerline goodness : 0.174616 with order 1 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.25, Z:1.15 [[ 9.98502389e-01 -4.17447118e-03 -5.45486356e-02 -6.96981934e+00] [ 4.48817122e-03 9.99974082e-01 5.62959450e-03 -2.45242727e-01] [ 5.45237213e-02 -5.86598717e-03 9.98495245e-01 1.14745895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42255784399998 meters Centerline goodness : 0.172364 with order 1 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98486828e-01 -3.97151765e-03 -5.48477945e-02 -6.96863384e+00] [ 4.26575191e-03 9.99977128e-01 5.24852983e-03 -2.42418260e-01] [ 5.48256953e-02 -5.47455499e-03 9.98480932e-01 1.14692609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48255784399998 meters Centerline goodness : 0.172719 with order 1 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98538930e-01 -3.91693974e-03 -5.38949275e-02 -6.97189959e+00] [ 4.18992860e-03 9.99978955e-01 4.95314723e-03 -2.40532577e-01] [ 5.38743921e-02 -5.17172623e-03 9.98534327e-01 1.14821552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542557844 meters Centerline goodness : 0.266852 with order 3 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98546882e-01 -4.07679646e-03 -5.37355030e-02 -6.97209357e+00] [ 4.34521866e-03 9.99978655e-01 4.87936441e-03 -2.40494637e-01] [ 5.37144638e-02 -5.10576663e-03 9.98543283e-01 1.14771534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602557844 meters Centerline goodness : 0.107468 with order 2 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98515504e-01 -4.63430734e-03 -5.42707209e-02 -6.97014184e+00] [ 4.90242928e-03 9.99976423e-01 4.80836748e-03 -2.41378911e-01] [ 5.42471579e-02 -5.06728785e-03 9.98514681e-01 1.14660934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662557844 meters Centerline goodness : 0.167248 with order 1 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98528652e-01 -4.68145057e-03 -5.40242156e-02 -6.97097981e+00] [ 4.95064460e-03 9.99975984e-01 4.85009056e-03 -2.41545657e-01] [ 5.40002126e-02 -5.11040908e-03 9.98527847e-01 1.14686461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722557844 meters Centerline goodness : 0.163739 with order 2 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98534396e-01 -4.87131943e-03 -5.39011109e-02 -6.97082903e+00] [ 5.13098822e-03 9.99975884e-01 4.68016825e-03 -2.41677040e-01] [ 5.38770125e-02 -4.94987494e-03 9.98535310e-01 1.14612754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782557844 meters Centerline goodness : 0.270457 with order 3 Centerline is valid? [False, False] Translation: X:-6.97, Y:-0.24, Z:1.15 [[ 9.98531732e-01 -4.89497700e-03 -5.39483075e-02 -6.97036331e+00] [ 5.14864818e-03 9.99976330e-01 4.56413655e-03 -2.40842190e-01] [ 5.39246892e-02 -4.83519603e-03 9.98533299e-01 1.14558655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842557844 meters Centerline goodness : 0.168459 with order 1 Centerline is valid? [False, False] Translation: X:-6.95, Y:-0.25, Z:1.15 [[ 9.98598362e-01 3.01146409e-03 -5.28416780e-02 -6.95145160e+00] [-2.85748875e-03 9.99991450e-01 2.98920776e-03 -2.45488303e-01] [ 5.28502281e-02 -2.83402347e-03 9.98598429e-01 1.14786492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902557844 meters Centerline goodness : 0.139241 with order 2 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.24, Z:1.15 [[ 9.98396229e-01 3.20787682e-03 -5.65214964e-02 -6.99423741e+00] [-3.03637909e-03 9.99990524e-01 3.11982163e-03 -2.39626476e-01] [ 5.65309688e-02 -2.94319746e-03 9.98396508e-01 1.14604415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96255784399997 meters Centerline goodness : 0.170056 with order 1 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.24, Z:1.15 [[ 9.98372000e-01 3.13967284e-03 -5.69516638e-02 -6.99249488e+00] [-3.00548965e-03 9.99992503e-01 2.44158971e-03 -2.35666830e-01] [ 5.69589026e-02 -2.26644717e-03 9.98373951e-01 1.14522068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02255784399998 meters Centerline goodness : 0.173638 with order 1 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.23, Z:1.14 [[ 9.98352348e-01 7.34548058e-03 -5.69089962e-02 -6.99234316e+00] [-6.99934662e-03 9.99955790e-01 6.27917768e-03 -2.34605638e-01] [ 5.69526038e-02 -5.87050599e-03 9.98359624e-01 1.14494385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08255784399998 meters Centerline goodness : 0.125642 with order 2 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.23, Z:1.15 [[ 0.9983041 0.01097381 -0.05717086 -6.99255058] [-0.01047662 0.99990471 0.00898908 -0.22967335] [ 0.05726406 -0.00837488 0.99832394 1.14617287] [ 0. 0. 0. 1. ]] SLAMing on 175.14255784399998 meters Centerline goodness : 0.107822 with order 2 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.22, Z:1.15 [[ 0.99837541 0.01112621 -0.05588163 -6.99666005] [-0.01067813 0.99990845 0.00831049 -0.22392434] [ 0.05596898 -0.00770028 0.99840281 1.14749924] [ 0. 0. 0. 1. ]] SLAMing on 175.20255784399998 meters Centerline goodness : 0.200131 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.22, Z:1.15 [[ 0.99837909 0.01092181 -0.05585605 -6.99660297] [-0.01049198 0.99991309 0.00798275 -0.22249207] [ 0.05593839 -0.00738377 0.99840692 1.14724678] [ 0. 0. 0. 1. ]] SLAMing on 175.26255784399999 meters Centerline goodness : 0.295830 with order 3 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.22, Z:1.15 [[ 9.98355907e-01 1.05652983e-02 -5.63369920e-02 -6.99512727e+00] [-1.01555881e-02 9.99919899e-01 7.55383890e-03 -2.20465898e-01] [ 5.64122879e-02 -6.96928440e-03 9.98383234e-01 1.14686055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322557844 meters Centerline goodness : 0.209056 with order 3 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.22, Z:1.15 [[ 9.98369409e-01 1.04104591e-02 -5.61261611e-02 -6.99590258e+00] [-1.00276849e-02 9.99924535e-01 7.09721724e-03 -2.18074659e-01] [ 5.61958108e-02 -6.52282912e-03 9.98398459e-01 1.14731271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382557844 meters Centerline goodness : 0.111027 with order 2 Centerline is valid? [False, False] Translation: X:-7.00, Y:-0.21, Z:1.15 [[ 9.98392463e-01 1.03168355e-02 -5.57319697e-02 -6.99692234e+00] [-9.98483094e-03 9.99930728e-01 6.23234558e-03 -2.13250298e-01] [ 5.57924072e-02 -5.66585256e-03 9.98426314e-01 1.14757631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442557844 meters Centerline goodness : 0.115052 with order 2 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.21, Z:1.15 [[ 9.98333774e-01 1.03334546e-02 -5.67705453e-02 -6.99382412e+00] [-1.00368251e-02 9.99934461e-01 5.50771189e-03 -2.08736881e-01] [ 5.68237383e-02 -4.92873876e-03 9.98372060e-01 1.14704628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502557844 meters Centerline goodness : 0.109500 with order 2 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.20, Z:1.15 [[ 9.98329861e-01 4.05644470e-03 -5.76284176e-02 -7.01651252e+00] [-3.58591942e-03 9.99959407e-01 8.26588032e-03 -2.03263720e-01] [ 5.76596084e-02 -8.04542428e-03 9.98303882e-01 1.14632408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562557844 meters Centerline goodness : 0.128446 with order 2 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.20, Z:1.15 [[ 9.98334305e-01 3.86287096e-03 -5.75646834e-02 -7.01662632e+00] [-3.42195442e-03 9.99964066e-01 7.75610382e-03 -2.00710595e-01] [ 5.75925757e-02 -7.54620080e-03 9.98311650e-01 1.14636574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622557844 meters Centerline goodness : 0.170181 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.19, Z:1.15 [[ 9.98326622e-01 6.71926873e-03 -5.74352417e-02 -7.01887266e+00] [-6.17917895e-03 9.99935058e-01 9.57588945e-03 -1.93432878e-01] [ 5.74958547e-02 -9.20496273e-03 9.98303308e-01 1.14845038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682557844 meters Centerline goodness : 0.117792 with order 2 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.19, Z:1.15 [[ 0.99831012 0.01041037 -0.05717101 -7.01873741] [-0.00971704 0.999876 0.01239193 -0.18830854] [ 0.05729292 -0.01181546 0.99828749 1.14763469] [ 0. 0. 0. 1. ]] SLAMing on 175.74255784399998 meters Centerline goodness : 0.113003 with order 2 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.19, Z:1.15 [[ 0.99832442 0.01006381 -0.05698308 -7.01889794] [-0.00940917 0.99988676 0.01174496 -0.18560622] [ 0.05709483 -0.01118911 0.99830606 1.14711202] [ 0. 0. 0. 1. ]] SLAMing on 175.80255784399998 meters Centerline goodness : 0.115871 with order 2 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.18, Z:1.15 [[ 0.99822716 0.00863138 -0.05888995 -7.01296923] [-0.00803803 0.9999146 0.01030496 -0.18176885] [ 0.05897387 -0.00981333 0.99821129 1.14551865] [ 0. 0. 0. 1. ]] SLAMing on 175.86255784399998 meters Centerline goodness : 0.167729 with order 1 Centerline is valid? [False, False] Translation: X:-7.01, Y:-0.18, Z:1.14 [[ 0.99819044 0.00832998 -0.0595521 -7.01101702] [-0.00774251 0.99991913 0.0100889 -0.1810006 ] [ 0.05963132 -0.00960956 0.99817421 1.14497094] [ 0. 0. 0. 1. ]] SLAMing on 175.92255784399998 meters Centerline goodness : 0.109995 with order 2 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.18, Z:1.15 [[ 9.98274920e-01 -1.46584435e-04 -5.87125504e-02 -6.99083120e+00] [ 7.99915464e-04 9.99938026e-01 1.11042731e-02 -1.76285764e-01] [ 5.87072840e-02 -1.11320824e-02 9.98213169e-01 1.14706213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98255784399998 meters Centerline goodness : 0.147634 with order 2 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.17, Z:1.15 [[ 9.98282733e-01 -4.52063057e-04 -5.85779793e-02 -6.99120504e+00] [ 1.06459570e-03 9.99945082e-01 1.04259191e-02 -1.73206114e-01] [ 5.85700491e-02 -1.04703769e-02 9.98228391e-01 1.14716561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042557844 meters Centerline goodness : 0.106258 with order 2 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.17, Z:1.15 [[ 9.98132940e-01 6.64120623e-05 -6.10788888e-02 -7.03788311e+00] [ 5.72090999e-04 9.99945378e-01 1.04361968e-02 -1.66967843e-01] [ 6.10762457e-02 -1.04516545e-02 9.98078381e-01 1.14662473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102557844 meters Centerline goodness : 0.173721 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.16, Z:1.15 [[ 9.98109646e-01 -3.23805707e-04 -6.14575488e-02 -7.03665376e+00] [ 9.00097648e-04 9.99955886e-01 9.34961990e-03 -1.60915662e-01] [ 6.14518102e-02 -9.38726360e-03 9.98065907e-01 1.14637507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162557844 meters Centerline goodness : 0.169288 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.16, Z:1.15 [[ 9.98120563e-01 -6.30138553e-04 -6.12776020e-02 -7.03715655e+00] [ 1.16380833e-03 9.99961705e-01 8.67375000e-03 -1.57753782e-01] [ 6.12697897e-02 -8.72876362e-03 9.98083073e-01 1.14645719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222557844 meters Centerline goodness : 0.162599 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.15, Z:1.15 [[ 9.98132706e-01 -9.78112996e-04 -6.10749120e-02 -7.03792464e+00] [ 1.46985478e-03 9.99966863e-01 8.00704456e-03 -1.54882671e-01] [ 6.10650564e-02 -8.08186430e-03 9.98101068e-01 1.14689059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282557844 meters Centerline goodness : 0.188579 with order 3 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.15, Z:1.15 [[ 9.98192547e-01 -1.31799356e-03 -6.00824585e-02 -7.04110938e+00] [ 1.78837350e-03 9.99968169e-01 7.77580511e-03 -1.54635340e-01] [ 6.00702976e-02 -7.86920059e-03 9.98163130e-01 1.14780040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342557844 meters Centerline goodness : 0.160819 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.16, Z:1.15 [[ 9.98189523e-01 -1.36031862e-03 -6.01317376e-02 -7.04068714e+00] [ 1.84262588e-03 9.99966572e-01 7.96612105e-03 -1.55850150e-01] [ 6.01188911e-02 -8.06249887e-03 9.98158662e-01 1.14727944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402557844 meters Centerline goodness : 0.167002 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.16, Z:1.15 [[ 9.98173957e-01 -1.42700606e-03 -6.03880417e-02 -7.03942749e+00] [ 1.90743181e-03 9.99966985e-01 7.89874602e-03 -1.55959751e-01] [ 6.03747764e-02 -7.99950864e-03 9.98143724e-01 1.14642704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46255784399997 meters Centerline goodness : 0.130908 with order 2 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.15, Z:1.15 [[ 9.98170491e-01 -1.07494639e-03 -6.04525872e-02 -7.03937339e+00] [ 1.55205831e-03 9.99968016e-01 7.84593047e-03 -1.54109900e-01] [ 6.04422197e-02 -7.92540221e-03 9.98140234e-01 1.14667499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52255784399998 meters Centerline goodness : 0.159152 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.15, Z:1.15 [[ 9.98204127e-01 -9.53327697e-04 -5.98966784e-02 -7.04119700e+00] [ 1.41391695e-03 9.99969755e-01 7.64781762e-03 -1.52775208e-01] [ 5.98875760e-02 -7.71877204e-03 9.98175285e-01 1.14732954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58255784399998 meters Centerline goodness : 0.153886 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.15, Z:1.15 [[ 9.98174389e-01 -8.65820841e-04 -6.03915587e-02 -7.03922951e+00] [ 1.33108821e-03 9.99969742e-01 7.66437437e-03 -1.52555479e-01] [ 6.03830954e-02 -7.73076869e-03 9.98145339e-01 1.14631897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64255784399998 meters Centerline goodness : 0.108500 with order 2 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.15, Z:1.15 [[ 9.98122481e-01 -7.42203914e-04 -6.12450954e-02 -7.03669376e+00] [ 1.20289322e-03 9.99971260e-01 7.48553296e-03 -1.51057562e-01] [ 6.12377794e-02 -7.54515004e-03 9.98094687e-01 1.14585362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70255784399998 meters Centerline goodness : 0.170193 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.15, Z:1.15 [[ 9.98108738e-01 3.31831694e-03 -6.13835098e-02 -7.03642593e+00] [-2.66438987e-03 9.99938862e-01 1.07319255e-02 -1.47052128e-01] [ 6.14153689e-02 -1.05480791e-02 9.98056557e-01 1.14608054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76255784399999 meters Centerline goodness : 0.240460 with order 1 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.13, Z:1.15 [[ 9.98152474e-01 7.22838119e-03 -6.03273553e-02 -7.04042842e+00] [-6.46828153e-03 9.99897342e-01 1.27853762e-02 -1.34587001e-01] [ 6.04135799e-02 -1.23715405e-02 9.98096761e-01 1.14785677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822557844 meters Centerline goodness : 0.146575 with order 2 Centerline is valid? [False, False] Translation: X:-7.04, Y:-0.12, Z:1.15 [[ 0.99806485 0.00926402 -0.06148763 -7.03565092] [-0.00843483 0.99987014 0.01373141 -0.12461295] [ 0.06160685 -0.0131862 0.99801339 1.14598285] [ 0. 0. 0. 1. ]] SLAMing on 176.882557844 meters Centerline goodness : 0.138006 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.11, Z:1.15 [[ 9.98094140e-01 2.21479382e-03 -6.16699446e-02 -7.05881030e+00] [-1.28008221e-03 9.99883775e-01 1.51920658e-02 -1.13869452e-01] [ 6.16964243e-02 -1.50841692e-02 9.97980971e-01 1.14557664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942557844 meters Centerline goodness : 0.138422 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.10, Z:1.15 [[ 9.98167504e-01 3.99869701e-03 -6.03791687e-02 -7.06393706e+00] [-3.02934743e-03 9.99865195e-01 1.61373835e-02 -1.04494599e-01] [ 6.04355578e-02 -1.59249023e-02 9.98045060e-01 1.14761834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002557844 meters Centerline goodness : 0.136085 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.10, Z:1.15 [[ 9.98182930e-01 3.35534937e-03 -6.01629371e-02 -7.06411058e+00] [-2.46010139e-03 9.99885242e-01 1.49482913e-02 -9.91347707e-02] [ 6.02061897e-02 -1.47731223e-02 9.98076635e-01 1.14710724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062557844 meters Centerline goodness : 0.132745 with order 3 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.09, Z:1.15 [[ 9.98204063e-01 2.47517092e-03 -5.98541669e-02 -7.06554964e+00] [-1.67614993e-03 9.99908865e-01 1.33959876e-02 -9.11910260e-02] [ 5.98818694e-02 -1.32716047e-02 9.98117241e-01 1.14791251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122557844 meters Centerline goodness : 0.133795 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.09, Z:1.15 [[ 9.98187505e-01 1.98162842e-03 -6.01479714e-02 -7.06450126e+00] [-1.21633259e-03 9.99917880e-01 1.27574993e-02 -8.88065986e-02] [ 6.01683127e-02 -1.26612164e-02 9.98107944e-01 1.14748281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182557844 meters Centerline goodness : 0.127492 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.09, Z:1.15 [[ 9.98201738e-01 1.31795911e-03 -5.99295698e-02 -7.06496952e+00] [-5.90345050e-04 9.99925924e-01 1.21572377e-02 -8.71694025e-02] [ 5.99411532e-02 -1.20999967e-02 9.98128573e-01 1.14726990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24255784399998 meters Centerline goodness : 0.208142 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.08, Z:1.15 [[ 9.98178164e-01 1.01933936e-03 -6.03267266e-02 -7.06375009e+00] [-3.35425049e-04 9.99935577e-01 1.13458788e-02 -8.29276739e-02] [ 6.03344055e-02 -1.13049734e-02 9.98114200e-01 1.14712215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30255784399998 meters Centerline goodness : 0.236702 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.08, Z:1.15 [[ 9.98173506e-01 4.90714113e-03 -6.02127289e-02 -7.06384795e+00] [-4.03617075e-03 9.99885589e-01 1.45779971e-02 -7.97510294e-02] [ 6.02773762e-02 -1.43083416e-02 9.98079110e-01 1.14692342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36255784399998 meters Centerline goodness : 0.128780 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.07, Z:1.15 [[ 9.98134700e-01 4.97801971e-03 -6.08468518e-02 -7.06201563e+00] [-4.14697978e-03 9.99896499e-01 1.37765560e-02 -7.41042745e-02] [ 6.09091341e-02 -1.34985279e-02 9.98052036e-01 1.14677397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42255784399998 meters Centerline goodness : 0.131531 with order 3 Centerline is valid? [False, False] Translation: X:-7.06, Y:-0.07, Z:1.15 [[ 9.98107421e-01 4.62031261e-03 -6.13206998e-02 -7.06053645e+00] [-3.84338958e-03 9.99910924e-01 1.27817425e-02 -6.87734411e-02] [ 6.13742932e-02 -1.25218727e-02 9.98036271e-01 1.14640669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48255784399998 meters Centerline goodness : 0.131302 with order 3 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.06, Z:1.14 [[ 9.98004118e-01 -4.53303849e-03 -6.29859653e-02 -7.08087506e+00] [ 5.36095489e-03 9.99901363e-01 1.29816807e-02 -6.40386720e-02] [ 6.29209061e-02 -1.32934357e-02 9.97929980e-01 1.14403748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542557844 meters Centerline goodness : 0.126277 with order 3 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.06, Z:1.15 [[ 9.98078776e-01 -5.25855354e-03 -6.17341516e-02 -7.08481163e+00] [ 6.04944891e-03 9.99901921e-01 1.26314002e-02 -6.46881395e-02] [ 6.16616739e-02 -1.29805900e-02 9.98012696e-01 1.14507409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602557844 meters Centerline goodness : 0.132293 with order 2 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.07, Z:1.15 [[ 9.98108595e-01 -5.28035578e-03 -6.12482681e-02 -7.08632578e+00] [ 6.08693196e-03 9.99897101e-01 1.29898639e-02 -6.67106153e-02] [ 6.11733747e-02 -1.33381089e-02 9.98038032e-01 1.14549682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662557844 meters Centerline goodness : 0.144592 with order 3 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.07, Z:1.15 [[ 9.98120119e-01 -5.34563780e-03 -6.10545100e-02 -7.08670298e+00] [ 6.15237254e-03 9.99896139e-01 1.30330128e-02 -6.74802082e-02] [ 6.09784990e-02 -1.33841424e-02 9.98049341e-01 1.14525988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722557844 meters Centerline goodness : 0.210221 with order 3 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.07, Z:1.15 [[ 9.98109069e-01 -5.30103323e-03 -6.12387645e-02 -7.08634616e+00] [ 6.10106349e-03 9.99898378e-01 1.28845230e-02 -6.61653229e-02] [ 6.11642400e-02 -1.32337809e-02 9.98039981e-01 1.14544182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782557844 meters Centerline goodness : 0.226968 with order 3 Centerline is valid? [False, False] Translation: X:-7.09, Y:-0.06, Z:1.14 [[ 9.98095865e-01 -5.33041256e-03 -6.14510494e-02 -7.08542112e+00] [ 6.11946519e-03 9.99901142e-01 1.26593004e-02 -6.49324557e-02] [ 6.13774952e-02 -1.30112429e-02 9.98029815e-01 1.14489701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842557844 meters Centerline goodness : 0.129687 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.98032886e-01 4.44413865e-03 -6.25348512e-02 -7.10898607e+00] [-3.68013387e-03 9.99917246e-01 1.23271460e-02 -6.37857808e-02] [ 6.25844597e-02 -1.20727605e-02 9.97966650e-01 1.14466756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902557844 meters Centerline goodness : 0.138856 with order 2 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.98017519e-01 4.35311795e-03 -6.27860027e-02 -7.10836065e+00] [-3.60208077e-03 9.99920666e-01 1.20700929e-02 -6.24835898e-02] [ 6.28335642e-02 -1.18200039e-02 9.97954022e-01 1.14473871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96255784399997 meters Centerline goodness : 0.217860 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.97991999e-01 4.18815354e-03 -6.32015030e-02 -7.10651837e+00] [-3.46231977e-03 9.99926844e-01 1.15895934e-02 -6.00212737e-02] [ 6.32454185e-02 -1.13474977e-02 9.97933490e-01 1.14352466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02255784399998 meters Centerline goodness : 0.130619 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.98019272e-01 4.04092938e-03 -6.27790116e-02 -7.10760602e+00] [-3.34688659e-03 9.99932162e-01 1.11565620e-02 -5.76756099e-02] [ 6.28198357e-02 -1.09243496e-02 9.97965093e-01 1.14361443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08255784399998 meters Centerline goodness : 0.130029 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.97987017e-01 -9.71515504e-05 -6.34184938e-02 -7.10659677e+00] [ 5.62329593e-04 9.99973070e-01 7.31724566e-03 -5.85289229e-02] [ 6.34160751e-02 -7.33817826e-03 9.97960196e-01 1.14437429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14255784399998 meters Centerline goodness : 0.139775 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.97973648e-01 7.81613548e-05 -6.36285518e-02 -7.10561043e+00] [ 4.15353415e-04 9.99969937e-01 7.74291971e-03 -6.06247141e-02] [ 6.36272441e-02 -7.75365816e-03 9.97943613e-01 1.14367435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20255784399998 meters Centerline goodness : 0.129681 with order 3 Centerline is valid? [False, False] Translation: X:-7.10, Y:-0.06, Z:1.14 [[ 9.97948690e-01 9.64196232e-04 -6.40115769e-02 -7.10443853e+00] [-4.18785625e-04 9.99963502e-01 8.53337009e-03 -6.23332321e-02] [ 6.40174685e-02 -8.48905838e-03 9.97912671e-01 1.14344764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26255784399999 meters Centerline goodness : 0.139239 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.97979405e-01 1.29796151e-03 -6.35249798e-02 -7.10613380e+00] [-7.38307409e-04 9.99960719e-01 8.83266604e-03 -6.37279229e-02] [ 6.35339489e-02 -8.76791784e-03 9.97941161e-01 1.14404235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322557844 meters Centerline goodness : 0.132705 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.98003586e-01 1.38858955e-03 -6.31420123e-02 -7.10742101e+00] [-8.25926504e-04 9.99959729e-01 8.93630083e-03 -6.42234207e-02] [ 6.31518784e-02 -8.86630961e-03 9.97964543e-01 1.14446455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382557844 meters Centerline goodness : 0.188830 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.97985600e-01 1.58776337e-03 -6.34209807e-02 -7.10667918e+00] [-1.02057589e-03 9.99959207e-01 8.97460977e-03 -6.34599626e-02] [ 6.34326431e-02 -8.89180539e-03 9.97946509e-01 1.14440510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442557844 meters Centerline goodness : 0.227159 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.14 [[ 9.97957680e-01 1.55937101e-03 -6.38595078e-02 -7.10524432e+00] [-1.00404806e-03 9.99961413e-01 8.72717922e-03 -6.18830923e-02] [ 6.38706526e-02 -8.64523752e-03 9.97920738e-01 1.14396600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502557844 meters Centerline goodness : 0.205103 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.15 [[ 9.98037232e-01 1.37534166e-03 -6.26082372e-02 -7.10960791e+00] [-8.68753706e-04 9.99966672e-01 8.11789797e-03 -5.93424659e-02] [ 6.26173155e-02 -8.04757329e-03 9.98005164e-01 1.14578630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562557844 meters Centerline goodness : 0.130136 with order 3 Centerline is valid? [False, False] Translation: X:-7.11, Y:-0.06, Z:1.15 [[ 9.98036968e-01 5.41620033e-03 -6.23929090e-02 -7.10999811e+00] [-4.68841894e-03 9.99919327e-01 1.18049949e-02 -5.77678605e-02] [ 6.24518138e-02 -1.14892972e-02 9.97981847e-01 1.14554026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622557844 meters Centerline goodness : 0.132948 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.04, Z:1.14 [[ 9.98177771e-01 5.04272906e-04 -6.03397236e-02 -7.13037411e+00] [ 3.29853202e-04 9.99904541e-01 1.38130713e-02 -4.49030592e-02] [ 6.03409291e-02 -1.38078040e-02 9.98082320e-01 1.14205036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682557844 meters Centerline goodness : 0.110060 with order 2 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.04, Z:1.14 [[ 9.98207023e-01 3.08481005e-03 -5.97764482e-02 -7.13351733e+00] [-2.17258776e-03 9.99880288e-01 1.53195520e-02 -3.69916344e-02] [ 5.98165501e-02 -1.51622148e-02 9.98094228e-01 1.14372019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74255784399998 meters Centerline goodness : 0.135854 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.03, Z:1.14 [[ 9.98181018e-01 6.39410738e-03 -5.99480618e-02 -7.13230230e+00] [-5.36075357e-03 9.99834542e-01 1.73824964e-02 -2.71790347e-02] [ 6.00492885e-02 -1.70295111e-02 9.98050138e-01 1.14275484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80255784399998 meters Centerline goodness : 0.132117 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.02, Z:1.14 [[ 9.98235590e-01 5.69388281e-03 -5.91040375e-02 -7.13472887e+00] [-4.73100261e-03 9.99854015e-01 1.64184454e-02 -2.37799900e-02] [ 5.91888940e-02 -1.61098552e-02 9.98116800e-01 1.14312100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86255784399998 meters Centerline goodness : 0.153652 with order 1 Centerline is valid? [False, False] Translation: X:-7.14, Y:-0.02, Z:1.14 [[ 9.98293011e-01 4.52496452e-03 -5.82287682e-02 -7.13723099e+00] [-3.63182046e-03 9.99874274e-01 1.54352335e-02 -2.09353219e-02] [ 5.82912912e-02 -1.51974093e-02 9.98183933e-01 1.14337780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92255784399998 meters Centerline goodness : 0.129450 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.02, Z:1.14 [[ 9.98200965e-01 2.17184587e-03 -5.99175807e-02 -7.12931473e+00] [-1.36979600e-03 9.99908960e-01 1.34237138e-02 -2.05714749e-02] [ 5.99412800e-02 -1.33174892e-02 9.98113063e-01 1.13936928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98255784399998 meters Centerline goodness : 0.145057 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.02, Z:1.14 [[ 9.98157050e-01 2.46996294e-03 -6.06333410e-02 -7.12636857e+00] [-1.64194744e-03 9.99904773e-01 1.37021365e-02 -1.99380812e-02] [ 6.06614108e-02 -1.35773274e-02 9.98066055e-01 1.13798687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042557844 meters Centerline goodness : 0.123917 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.02, Z:1.14 [[ 9.98181861e-01 2.08658514e-03 -6.02380145e-02 -7.12835464e+00] [-1.31051933e-03 9.99915675e-01 1.29199571e-02 -1.70227408e-02] [ 6.02598936e-02 -1.28175238e-02 9.98100424e-01 1.13948149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102557844 meters Centerline goodness : 0.148955 with order 3 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.01, Z:1.14 [[ 9.98107126e-01 2.29508571e-03 -6.14564685e-02 -7.12464036e+00] [-1.52880733e-03 9.99920544e-01 1.25127571e-02 -1.35313107e-02] [ 6.14803033e-02 -1.23951169e-02 9.98031329e-01 1.13853939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162557844 meters SLAMing on 179.222557844 meters Centerline goodness : 0.131509 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.01, Z:1.14 [[ 9.98218778e-01 1.17528344e-03 -5.96480439e-02 -7.13134734e+00] [-4.89442676e-04 9.99933621e-01 1.15114346e-02 -1.18537284e-02] [ 5.96576137e-02 -1.14617359e-02 9.98153093e-01 1.14157959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282557844 meters Centerline goodness : 0.147703 with order 2 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.01, Z:1.14 [[ 9.98247995e-01 1.09035209e-03 -5.91587017e-02 -7.13270280e+00] [-4.06950084e-04 9.99933065e-01 1.15628298e-02 -1.24442533e-02] [ 5.91673495e-02 -1.15184970e-02 9.98181621e-01 1.14173618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342557844 meters Centerline goodness : 0.144100 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.01, Z:1.14 [[ 9.98230658e-01 1.02530782e-03 -5.94516851e-02 -7.13133948e+00] [-3.43110874e-04 9.99933999e-01 1.14838857e-02 -1.22378529e-02] [ 5.94595358e-02 -1.14431682e-02 9.98165125e-01 1.14077363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402557844 meters Centerline goodness : 0.135063 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.01, Z:1.14 [[ 9.98220195e-01 1.09769474e-03 -5.96258078e-02 -7.13116707e+00] [-4.27062525e-04 9.99936525e-01 1.12589271e-02 -1.01698466e-02] [ 5.96343819e-02 -1.12134245e-02 9.98157302e-01 1.14123003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46255784399997 meters Centerline goodness : 0.134527 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.01, Z:1.14 [[ 9.98216422e-01 9.83589424e-04 -5.96909364e-02 -7.13137534e+00] [-3.29382805e-04 9.99939787e-01 1.09687486e-02 -8.94633764e-03] [ 5.96981310e-02 -1.09295238e-02 9.98156640e-01 1.14181552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52255784399998 meters Centerline goodness : 0.144488 with order 3 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.01, Z:1.14 [[ 9.98101070e-01 2.11863528e-03 -6.15610646e-02 -7.12507608e+00] [-1.39976983e-03 9.99930361e-01 1.17180555e-02 -9.10419192e-03] [ 6.15816039e-02 -1.16096324e-02 9.98034530e-01 1.13987331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58255784399998 meters Centerline goodness : 0.228460 with order 3 Centerline is valid? [False, False] Translation: X:-7.15, Y:-0.01, Z:1.14 [[ 0.99794942 0.01266705 -0.06274154 -7.14627066] [-0.01198767 0.9998655 0.01119283 -0.00753776] [ 0.06287488 -0.01041775 0.99796704 1.1384166 ] [ 0. 0. 0. 1. ]] SLAMing on 179.64255784399998 meters Centerline goodness : 0.129675 with order 3 Centerline is valid? [False, False] Translation: X:-7.15, Y:-0.01, Z:1.14 [[ 9.97943868e-01 1.38347351e-02 -6.25830372e-02 -7.14736360e+00] [-1.31389686e-02 9.99847370e-01 1.15154250e-02 -5.43318034e-03] [ 6.27327980e-02 -1.06694712e-02 9.97973326e-01 1.13946911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70255784399998 meters Centerline goodness : 0.135648 with order 3 Centerline is valid? [False, False] Translation: X:-7.15, Y:0.00, Z:1.14 [[ 9.97991128e-01 1.78855336e-02 -6.07767672e-02 -7.15295486e+00] [-1.71365088e-02 9.99770927e-01 1.28232008e-02 2.71980698e-03] [ 6.09921946e-02 -1.17559390e-02 9.98069011e-01 1.13822119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76255784399999 meters Centerline goodness : 0.223392 with order 3 Centerline is valid? [False, False] Translation: X:-7.15, Y:0.00, Z:1.14 [[ 9.97971890e-01 1.84866705e-02 -6.09126405e-02 -7.15282761e+00] [-1.77587578e-02 9.99764536e-01 1.24699308e-02 4.29040821e-03] [ 6.11288253e-02 -1.13629076e-02 9.98065204e-01 1.13719023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822557844 meters Centerline goodness : 0.138868 with order 3 Centerline is valid? [False, False] Translation: X:-7.17, Y:0.01, Z:1.14 [[ 0.99797914 0.00914429 -0.06288106 -7.17066435] [-0.00832755 0.99987769 0.01323851 0.00951487] [ 0.06299442 -0.01268811 0.99793322 1.13542657] [ 0. 0. 0. 1. ]] SLAMing on 179.882557844 meters Centerline goodness : 0.135622 with order 3 Centerline is valid? [False, False] Translation: X:-7.15, Y:0.01, Z:1.14 [[ 9.98118263e-01 1.45794592e-03 -6.13009568e-02 -7.15357692e+00] [-5.59083689e-04 9.99892120e-01 1.46776991e-02 1.23891130e-02] [ 6.13157430e-02 -1.46158072e-02 9.98011402e-01 1.13614069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942557844 meters Centerline goodness : 0.160299 with order 3 Centerline is valid? [False, False] Translation: X:-7.14, Y:0.00, Z:1.14 [[ 9.98202733e-01 8.65015543e-03 -5.92998963e-02 -7.13679145e+00] [-7.87896469e-03 9.99881485e-01 1.32264341e-02 4.17379352e-03] [ 5.94072791e-02 -1.27354408e-02 9.98152585e-01 1.13959737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002557844 meters Centerline goodness : 0.214531 with order 3 Centerline is valid? [False, False] Translation: X:-7.14, Y:0.00, Z:1.14 [[ 9.98243166e-01 9.15073998e-03 -5.85392582e-02 -7.13868744e+00] [-8.36504416e-03 9.99871807e-01 1.36526969e-02 2.46615266e-03] [ 5.86566861e-02 -1.31390279e-02 9.98191745e-01 1.13905781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062557844 meters Centerline goodness : 0.172953 with order 3 Centerline is valid? [False, False] Translation: X:-7.14, Y:0.00, Z:1.14 [[ 9.98263175e-01 9.27833525e-03 -5.81768584e-02 -7.13954722e+00] [-8.51440143e-03 9.99874428e-01 1.33653959e-02 3.26448380e-03] [ 5.82935616e-02 -1.28468414e-02 9.98216820e-01 1.13831110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122557844 meters Centerline goodness : 0.142965 with order 2 Centerline is valid? [False, False] Translation: X:-7.14, Y:0.01, Z:1.14 [[ 0.99817959 0.01331017 -0.05882476 -7.13705195] [-0.0123998 0.99979806 0.01581406 0.00867331] [ 0.05902337 -0.01505586 0.99814306 1.13577144] [ 0. 0. 0. 1. ]] SLAMing on 180.182557844 meters Centerline goodness : 0.181928 with order 3 Centerline is valid? [False, False] Translation: X:-7.14, Y:0.02, Z:1.13 [[ 0.99815449 0.01635218 -0.0584827 -7.13863203] [-0.015423 0.99974812 0.01630428 0.01988642] [ 0.05873458 -0.01537221 0.99815527 1.13440317] [ 0. 0. 0. 1. ]] SLAMing on 180.24255784399998 meters Centerline goodness : 0.088700 with order 1 Centerline is valid? [False, False] Translation: X:-7.14, Y:0.02, Z:1.13 [[ 0.99812842 0.01638179 -0.05891776 -7.13775769] [-0.01551656 0.99976539 0.01511312 0.02493885] [ 0.05915151 -0.01417063 0.99814843 1.13361513] [ 0. 0. 0. 1. ]] SLAMing on 180.30255784399998 meters Centerline goodness : 0.228759 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:0.04, Z:1.13 [[ 0.99842985 0.00819968 -0.05541307 -7.16099752] [-0.00739786 0.99986518 0.01465949 0.0372997 ] [ 0.0555258 -0.01422653 0.99835589 1.13198119] [ 0. 0. 0. 1. ]] SLAMing on 180.36255784399998 meters Centerline goodness : 0.134904 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:0.04, Z:1.13 [[ 9.98418149e-01 4.76916776e-03 -5.60219159e-02 -7.15962297e+00] [-4.16304190e-03 9.99931587e-01 1.09311666e-02 3.90613118e-02] [ 5.60702158e-02 -1.06806535e-02 9.98369698e-01 1.13226361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42255784399998 meters Centerline goodness : 0.199272 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:0.04, Z:1.13 [[ 9.98377832e-01 4.71621584e-03 -5.67403078e-02 -7.15708799e+00] [-4.11903544e-03 9.99934940e-01 1.06371530e-02 3.98815112e-02] [ 5.67867834e-02 -1.03861824e-02 9.98332304e-01 1.13125263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48255784399998 meters Centerline goodness : 0.225859 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:0.04, Z:1.13 [[ 9.98399194e-01 4.68225042e-03 -5.63660007e-02 -7.15928169e+00] [-4.10451328e-03 9.99937898e-01 1.03611554e-02 3.95178946e-02] [ 5.64110138e-02 -1.01132142e-02 9.98356410e-01 1.13308048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542557844 meters Centerline goodness : 0.088900 with order 1 Centerline is valid? [False, False] Translation: X:-7.16, Y:0.04, Z:1.13 [[ 9.98398790e-01 5.79085638e-03 -5.62700854e-02 -7.16018405e+00] [-5.15061268e-03 9.99920418e-01 1.15164224e-02 3.63302116e-02] [ 5.63322973e-02 -1.12081567e-02 9.98349162e-01 1.13396208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602557844 meters Centerline goodness : 0.133925 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:0.03, Z:1.13 [[ 9.98382375e-01 6.18580937e-03 -5.65187424e-02 -7.15890893e+00] [-5.50893314e-03 9.99911325e-01 1.21241036e-02 3.33462681e-02] [ 5.65887280e-02 -1.17931334e-02 9.98327921e-01 1.13296868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662557844 meters Centerline goodness : 0.171494 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:0.03, Z:1.13 [[ 9.98413784e-01 7.21307950e-03 -5.58380407e-02 -7.16135858e+00] [-6.45756060e-03 9.99885310e-01 1.36991683e-02 2.71330537e-02] [ 5.59304498e-02 -1.33168610e-02 9.98345855e-01 1.13406605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722557844 meters Centerline goodness : 0.090000 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:0.02, Z:1.13 [[ 0.99818472 0.01447297 -0.05846189 -7.17986772] [-0.01383143 0.99983977 0.01136347 0.01771616] [ 0.05861698 -0.01053423 0.99822496 1.13221983] [ 0. 0. 0. 1. ]] SLAMing on 180.782557844 meters Centerline goodness : 0.243788 with order 3 Centerline is valid? [False, False] Translation: X:-7.18, Y:0.02, Z:1.13 [[ 0.99815745 0.01512946 -0.05876053 -7.1789951 ] [-0.01444543 0.99982307 0.01204847 0.01565671] [ 0.05893242 -0.01117744 0.9981994 1.13193282] [ 0. 0. 0. 1. ]] SLAMing on 180.842557844 meters Centerline goodness : 0.094398 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:0.01, Z:1.13 [[ 0.99821431 0.0118758 -0.05854186 -7.17962326] [-0.01136369 0.99989427 0.00907295 0.01189702] [ 0.05864342 -0.0083915 0.99824372 1.13179501] [ 0. 0. 0. 1. ]] SLAMing on 180.902557844 meters Centerline goodness : 0.094320 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:0.01, Z:1.13 [[ 9.98228001e-01 8.48596301e-03 -5.88969149e-02 -7.17832267e+00] [-8.14045664e-03 9.99948237e-01 6.10374904e-03 9.42456610e-03] [ 5.89456624e-02 -5.61348542e-03 9.98245410e-01 1.13114011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96255784399997 meters Centerline goodness : 0.246423 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:0.00, Z:1.13 [[ 9.98322392e-01 -4.02505107e-03 -5.77598442e-02 -7.15915781e+00] [ 4.30421442e-03 9.99979647e-01 4.70957790e-03 4.63475427e-03] [ 5.77397123e-02 -4.95028783e-03 9.98319398e-01 1.13383655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02255784399998 meters Centerline goodness : 0.233420 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:-0.00, Z:1.13 [[ 9.98273557e-01 -6.87824049e-03 -5.83317743e-02 -7.15683628e+00] [ 7.07775375e-03 9.99969786e-01 3.21440129e-03 -4.75785045e-03] [ 5.83079024e-02 -3.62170974e-03 9.98292077e-01 1.13319010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08255784399998 meters Centerline goodness : 0.240007 with order 3 Centerline is valid? [False, False] Translation: X:-7.16, Y:-0.01, Z:1.13 [[ 9.98266702e-01 -1.04850434e-02 -5.79107609e-02 -7.15840893e+00] [ 1.05475342e-02 9.99944074e-01 7.73521493e-04 -1.27656627e-02] [ 5.78994118e-02 -1.38299648e-03 9.98321464e-01 1.13415458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14255784399998 meters Centerline goodness : 0.171263 with order 3 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.02, Z:1.13 [[ 9.98123069e-01 -9.61742149e-03 -6.04801228e-02 -7.20567725e+00] [ 9.76607902e-03 9.99949972e-01 2.16283312e-03 -2.46340162e-02] [ 6.04562962e-02 -2.74942729e-03 9.98167059e-01 1.13422507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20255784399998 meters Centerline goodness : 0.421701 with order 3 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.04, Z:1.14 [[ 9.98093028e-01 -5.39973521e-03 -6.14910527e-02 -7.18469266e+00] [ 5.33645335e-03 9.99985049e-01 -1.19330519e-03 -3.68148698e-02] [ 6.14965769e-02 8.62885452e-04 9.98106921e-01 1.13694804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26255784399999 meters Centerline goodness : 0.392603 with order 3 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.05, Z:1.14 [[ 9.98106278e-01 4.46866447e-03 -6.13505405e-02 -7.20638393e+00] [-4.50658392e-03 9.99989730e-01 -4.79720736e-04 -4.54051694e-02] [ 6.13477668e-02 7.55293638e-04 9.98116166e-01 1.13542835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322557844 meters Centerline goodness : 0.383380 with order 1 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.05, Z:1.14 [[ 9.98102749e-01 5.52903317e-03 -6.13215548e-02 -7.20632926e+00] [-5.51215666e-03 9.99984709e-01 4.44377383e-04 -4.83101697e-02] [ 6.13230741e-02 -1.05520271e-04 9.98117964e-01 1.13517539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382557844 meters Centerline goodness : 0.384121 with order 2 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.05, Z:1.14 [[ 9.98088704e-01 6.06252237e-03 -6.14994651e-02 -7.20582415e+00] [-5.99323820e-03 9.99981181e-01 1.31098572e-03 -5.20891662e-02] [ 6.15062557e-02 -9.39899095e-04 9.98106255e-01 1.13501918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442557844 meters Centerline goodness : 0.321698 with order 1 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.06, Z:1.14 [[ 9.98090920e-01 6.54550681e-03 -6.14139338e-02 -7.20602020e+00] [-6.40584378e-03 9.99976430e-01 2.47074249e-03 -5.75069337e-02] [ 6.14286585e-02 -2.07261758e-03 9.98109325e-01 1.13507215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502557844 meters Centerline goodness : 0.278688 with order 1 Centerline is valid? [False, False] Translation: X:-7.20, Y:-0.06, Z:1.13 [[ 9.98089180e-01 2.59493494e-03 -6.17353553e-02 -7.20466507e+00] [-2.64144491e-03 9.99996286e-01 -6.71775296e-04 -6.23055799e-02] [ 6.17333828e-02 8.33562195e-04 9.98092328e-01 1.13420239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562557844 meters Centerline goodness : 0.251166 with order 3 Centerline is valid? [False, False] Translation: X:-7.22, Y:-0.08, Z:1.13 [[ 9.98133547e-01 8.00967742e-03 -6.05414467e-02 -7.22445778e+00] [-8.17071709e-03 9.99963708e-01 -2.41289419e-03 -7.73589410e-02] [ 6.05199230e-02 2.90305767e-03 9.98162768e-01 1.13142694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622557844 meters Centerline goodness : 0.349644 with order 1 Centerline is valid? [False, False] Translation: X:-7.20, Y:-0.08, Z:1.13 [[ 9.98364494e-01 -3.37402538e-04 -5.71683831e-02 -7.20391567e+00] [ 2.56841366e-04 9.99998964e-01 -1.41653278e-03 -8.37949478e-02] [ 5.71688018e-02 1.39953283e-03 9.98363546e-01 1.13195832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682557844 meters SLAMing on 181.74255784399998 meters Centerline goodness : 0.260392 with order 1 Centerline is valid? [False, False] Translation: X:-7.24, Y:-0.10, Z:1.13 [[ 9.98181830e-01 -2.00194319e-03 -6.02414093e-02 -7.24284550e+00] [ 1.86337841e-03 9.99995488e-01 -2.35624762e-03 -9.73301906e-02] [ 6.02458545e-02 2.23971102e-03 9.98181056e-01 1.12869054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80255784399998 meters Centerline goodness : 0.151714 with order 1 Centerline is valid? [False, False] Translation: X:-7.25, Y:-0.10, Z:1.13 [[ 9.98231553e-01 -4.20063572e-03 -5.92968868e-02 -7.24801772e+00] [ 3.98054028e-03 9.99984745e-01 -3.82938719e-03 -1.02588479e-01] [ 5.93120681e-02 3.58658148e-03 9.98233046e-01 1.13157617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86255784399998 meters Centerline goodness : 0.252565 with order 1 Centerline is valid? [False, False] Translation: X:-7.25, Y:-0.11, Z:1.13 [[ 9.98238097e-01 -4.24024756e-03 -5.91837979e-02 -7.24797077e+00] [ 4.07834822e-03 9.99987605e-01 -2.85605927e-03 -1.08224120e-01] [ 5.91951747e-02 2.60965503e-03 9.98243017e-01 1.13119931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92255784399998 meters Centerline goodness : 0.129816 with order 1 Centerline is valid? [False, False] Translation: X:-7.25, Y:-0.11, Z:1.13 [[ 9.98203650e-01 -4.35177861e-03 -5.97539560e-02 -7.24625983e+00] [ 4.21235664e-03 9.99988105e-01 -2.45903507e-03 -1.11031585e-01] [ 5.97639464e-02 2.20291281e-03 9.98210107e-01 1.13086509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98255784399998 meters Centerline goodness : 0.383493 with order 2 Centerline is valid? [False, False] Translation: X:-7.29, Y:-0.12, Z:1.13 [[ 9.98095073e-01 -6.18328528e-03 -6.13839684e-02 -7.29498419e+00] [ 5.99041982e-03 9.99976528e-01 -3.32548779e-03 -1.15793704e-01] [ 6.14030900e-02 2.95143724e-03 9.98108686e-01 1.13144530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042557844 meters Centerline goodness : 0.193139 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:-0.12, Z:1.13 [[ 9.98060637e-01 -1.00730812e-02 -6.14287968e-02 -7.29571551e+00] [ 9.69138665e-03 9.99931857e-01 -6.50840178e-03 -1.19030070e-01] [ 6.14901705e-02 5.90044941e-03 9.98090248e-01 1.13252318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102557844 meters SLAMing on 182.162557844 meters Centerline goodness : 0.250390 with order 2 Centerline is valid? [False, False] Translation: X:-7.30, Y:-0.13, Z:1.13 [[ 0.99810024 -0.01313695 -0.06019419 -7.30032412] [ 0.01262883 0.99988141 -0.00881407 -0.12750207] [ 0.06030284 0.00803715 0.99814777 1.13422485] [ 0. 0. 0. 1. ]] SLAMing on 182.222557844 meters Centerline goodness : 0.250186 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.13, Z:1.13 [[ 0.9978846 -0.014308 -0.06341613 -7.34229786] [ 0.01378298 0.99986708 -0.00870873 -0.13272267] [ 0.06353231 0.00781624 0.99794917 1.1323124 ] [ 0. 0. 0. 1. ]] SLAMing on 182.282557844 meters Centerline goodness : 0.212345 with order 3 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.14, Z:1.13 [[ 0.99780927 -0.01847619 -0.06352387 -7.34181579] [ 0.0177398 0.99976897 -0.01213685 -0.13676142] [ 0.06373344 0.01098337 0.99790652 1.1322957 ] [ 0. 0. 0. 1. ]] SLAMing on 182.342557844 meters Centerline goodness : 0.091586 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.15, Z:1.13 [[ 0.99770482 -0.02207642 -0.06401345 -7.33876619] [ 0.02123411 0.99967916 -0.01380895 -0.14885797] [ 0.06429777 0.01241799 0.99785349 1.12990399] [ 0. 0. 0. 1. ]] SLAMing on 182.402557844 meters Centerline goodness : 0.103746 with order 2 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.16, Z:1.13 [[ 0.99758301 -0.02535807 -0.06469244 -7.33541659] [ 0.02438585 0.99957817 -0.01577397 -0.15710433] [ 0.06506515 0.01415826 0.99778057 1.12802573] [ 0. 0. 0. 1. ]] SLAMing on 182.46255784399997 meters Centerline goodness : 0.178723 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.16, Z:1.13 [[ 0.99750586 -0.02900399 -0.0643493 -7.336288 ] [ 0.02787807 0.99944332 -0.01832662 -0.16396286] [ 0.06484502 0.01648698 0.99775914 1.1284155 ] [ 0. 0. 0. 1. ]] SLAMing on 182.52255784399998 meters Centerline goodness : 0.095920 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:-0.17, Z:1.13 [[ 0.9977144 -0.02039277 -0.06442128 -7.35578139] [ 0.01919087 0.99963107 -0.01922083 -0.17130973] [ 0.06478948 0.0179406 0.99773767 1.12559453] [ 0. 0. 0. 1. ]] SLAMing on 182.58255784399998 meters Centerline goodness : 0.182693 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:-0.17, Z:1.12 [[ 0.99772702 -0.01646641 -0.06534256 -7.35269494] [ 0.01549578 0.99976235 -0.01533375 -0.17193959] [ 0.06557952 0.01428636 0.99774507 1.12443595] [ 0. 0. 0. 1. ]] SLAMing on 182.64255784399998 meters Centerline goodness : 0.336978 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.18, Z:1.13 [[ 0.99797018 -0.00894404 -0.06305183 -7.33728461] [ 0.00788953 0.99982515 -0.01695375 -0.17858238] [ 0.06319244 0.01642189 0.99786624 1.12798147] [ 0. 0. 0. 1. ]] SLAMing on 182.70255784399998 meters Centerline goodness : 0.175567 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:-0.18, Z:1.13 [[ 0.99790431 -0.00915135 -0.06405657 -7.33439109] [ 0.00810329 0.99982934 -0.01660221 -0.18073666] [ 0.06419757 0.01604835 0.99780816 1.12712613] [ 0. 0. 0. 1. ]] SLAMing on 182.76255784399999 meters Centerline goodness : 0.172841 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:-0.18, Z:1.13 [[ 0.99787161 -0.00915642 -0.0645632 -7.33266554] [ 0.00812648 0.99983579 -0.01619713 -0.18273007] [ 0.06470091 0.01563798 0.99778216 1.1262633 ] [ 0. 0. 0. 1. ]] SLAMing on 182.822557844 meters Centerline goodness : 0.118429 with order 2 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.18, Z:1.13 [[ 0.99801165 -0.01020661 -0.06219783 -7.34022002] [ 0.00916637 0.99981369 -0.01698712 -0.18177135] [ 0.06235962 0.01638321 0.99791927 1.12831253] [ 0. 0. 0. 1. ]] SLAMing on 182.882557844 meters Centerline goodness : 0.176754 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.18, Z:1.13 [[ 0.99799847 -0.01034036 -0.0623869 -7.33960721] [ 0.00928738 0.99980988 -0.01714469 -0.18130273] [ 0.06255232 0.01653097 0.99790477 1.12808303] [ 0. 0. 0. 1. ]] SLAMing on 182.942557844 meters Centerline goodness : 0.168213 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.18, Z:1.13 [[ 0.99800245 -0.01038236 -0.0623163 -7.33963297] [ 0.00932527 0.99980806 -0.01723035 -0.18074049] [ 0.06248324 0.01661482 0.99790771 1.12779046] [ 0. 0. 0. 1. ]] SLAMing on 183.002557844 meters Centerline goodness : 0.168112 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.18, Z:1.13 [[ 0.99803912 -0.0107093 -0.06167022 -7.34255577] [ 0.00963757 0.99979778 -0.01764981 -0.17943424] [ 0.06184677 0.01702085 0.99794051 1.1296921 ] [ 0. 0. 0. 1. ]] SLAMing on 183.062557844 meters Centerline goodness : 0.111648 with order 2 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.18, Z:1.13 [[ 0.99803553 -0.01084913 -0.06170397 -7.34216345] [ 0.00976461 0.99979298 -0.01785062 -0.1785262 ] [ 0.06188486 0.01721304 0.99793486 1.12917982] [ 0. 0. 0. 1. ]] SLAMing on 183.122557844 meters Centerline goodness : 0.116606 with order 2 Centerline is valid? [False, False] Translation: X:-7.34, Y:-0.18, Z:1.13 [[ 0.99804585 -0.01100814 -0.06150847 -7.34262021] [ 0.00990959 0.99978641 -0.01813674 -0.17728017] [ 0.06169499 0.01749177 0.99794177 1.12913549] [ 0. 0. 0. 1. ]] SLAMing on 183.182557844 meters Centerline goodness : 0.174784 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:-0.18, Z:1.13 [[ 9.98082891e-01 -2.54691735e-03 -6.18389586e-02 -7.32160930e+00] [ 1.39461481e-03 9.99824729e-01 -1.86699419e-02 -1.79961744e-01] [ 6.18756708e-02 1.85479081e-02 9.97911507e-01 1.13081070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24255784399998 meters Centerline goodness : 0.114329 with order 2 Centerline is valid? [False, False] Translation: X:-7.36, Y:-0.18, Z:1.13 [[ 9.97824592e-01 -3.19379589e-03 -6.58474213e-02 -7.36241409e+00] [ 1.93106658e-03 9.99813196e-01 -1.92313310e-02 -1.76906682e-01] [ 6.58965417e-02 1.90623393e-02 9.97644362e-01 1.12756055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30255784399998 meters Centerline goodness : 0.107755 with order 2 Centerline is valid? [False, False] Translation: X:-7.36, Y:-0.18, Z:1.13 [[ 9.97823810e-01 6.28384972e-04 -6.59336669e-02 -7.36213426e+00] [-1.66989803e-03 9.99874685e-01 -1.57424551e-02 -1.75461207e-01] [ 6.59155121e-02 1.58182990e-02 9.97699818e-01 1.12738301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36255784399998 meters Centerline goodness : 0.114550 with order 2 Centerline is valid? [False, False] Translation: X:-7.36, Y:-0.17, Z:1.13 [[ 9.97824744e-01 4.53303744e-03 -6.57664872e-02 -7.36291722e+00] [-5.36653317e-03 9.99907440e-01 -1.25024425e-02 -1.72082336e-01] [ 6.57037258e-02 1.28281845e-02 9.97756713e-01 1.12800323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42255784399998 meters Centerline goodness : 0.159055 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.16, Z:1.13 [[ 9.97838244e-01 6.74112931e-03 -6.53712140e-02 -7.36617439e+00] [-7.52009037e-03 9.99903541e-01 -1.16772300e-02 -1.61654087e-01] [ 6.52861906e-02 1.21435841e-02 9.97792687e-01 1.13065198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48255784399998 meters Centerline goodness : 0.121562 with order 2 Centerline is valid? [False, False] Translation: X:-7.36, Y:-0.15, Z:1.13 [[ 0.99778674 0.01029414 -0.0656936 -7.36430845] [-0.01093064 0.99989667 -0.00933684 -0.1527108 ] [ 0.0655907 0.01003425 0.99779616 1.12966049] [ 0. 0. 0. 1. ]] SLAMing on 183.542557844 meters Centerline goodness : 0.167586 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.15, Z:1.13 [[ 0.99784885 0.01009376 -0.06477495 -7.36754306] [-0.01078372 0.99988869 -0.01031098 -0.14758152] [ 0.06466367 0.01098731 0.99784663 1.13116502] [ 0. 0. 0. 1. ]] SLAMing on 183.602557844 meters Centerline goodness : 0.113835 with order 2 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.14, Z:1.13 [[ 9.98069488e-01 5.00971512e-03 -6.19047693e-02 -7.39158862e+00] [-5.52972778e-03 9.99950829e-01 -8.23173697e-03 -1.37468751e-01] [ 6.18604867e-02 8.55816202e-03 9.98048114e-01 1.13062342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662557844 meters Centerline goodness : 0.155869 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.13, Z:1.13 [[ 9.98130159e-01 -2.51121170e-03 -6.10727407e-02 -7.41051971e+00] [ 2.07484213e-03 9.99971873e-01 -7.20744738e-03 -1.29862300e-01] [ 6.10891223e-02 7.06725431e-03 9.98107295e-01 1.12764355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722557844 meters Centerline goodness : 0.160893 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.12, Z:1.13 [[ 9.98224728e-01 6.34712722e-04 -5.95566059e-02 -7.41631006e+00] [-9.54225944e-04 9.99985305e-01 -5.33657910e-03 -1.22924662e-01] [ 5.95523436e-02 5.38393568e-03 9.98210665e-01 1.13006728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782557844 meters Centerline goodness : 0.160871 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.12, Z:1.13 [[ 9.98224114e-01 4.20799761e-03 -5.94214669e-02 -7.41777812e+00] [-4.38248147e-03 9.99986459e-01 -2.80636041e-03 -1.17398296e-01] [ 5.94088531e-02 3.06179011e-03 9.98229039e-01 1.13130049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842557844 meters Centerline goodness : 0.151487 with order 2 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.11, Z:1.13 [[ 9.98162255e-01 7.47168022e-03 -6.01355673e-02 -7.41370909e+00] [-7.51699739e-03 9.99971608e-01 -5.27391502e-04 -1.11679471e-01] [ 6.01299194e-02 9.78461193e-04 9.98190080e-01 1.12853760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902557844 meters Centerline goodness : 0.168078 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.11, Z:1.13 [[ 9.98173803e-01 7.21320798e-03 -5.99752395e-02 -7.41417249e+00] [-7.29686256e-03 9.99972686e-01 -1.17592007e-03 -1.08919556e-01] [ 5.99651192e-02 1.61140369e-03 9.98199172e-01 1.12851604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96255784399997 meters Centerline goodness : 0.170470 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.11, Z:1.13 [[ 9.98152404e-01 7.20159751e-03 -6.03317143e-02 -7.41274172e+00] [-7.28260093e-03 9.99972851e-01 -1.12285268e-03 -1.09298001e-01] [ 6.03219901e-02 1.56014990e-03 9.98177751e-01 1.12772428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02255784399998 meters Centerline goodness : 0.116336 with order 2 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.11, Z:1.13 [[ 9.98032354e-01 8.29858942e-03 -6.21494509e-02 -7.40621183e+00] [-8.31484026e-03 9.99965431e-01 -2.84880357e-06 -1.11004270e-01] [ 6.21472788e-02 5.19605955e-04 9.98066854e-01 1.12526788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08255784399998 meters Centerline goodness : 0.111288 with order 2 Centerline is valid? [False, False] Translation: X:-7.40, Y:-0.11, Z:1.12 [[ 9.98002783e-01 8.67464415e-03 -6.25715231e-02 -7.40499880e+00] [-8.69491963e-03 9.99962197e-01 -5.17449747e-05 -1.09573765e-01] [ 6.25687089e-02 5.95695993e-04 9.98040481e-01 1.12494893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14255784399998 meters Centerline goodness : 0.361573 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.11, Z:1.13 [[ 9.98003515e-01 9.39917078e-03 -6.24550930e-02 -7.40586757e+00] [-9.41695630e-03 9.99955659e-01 9.58316898e-06 -1.08029801e-01] [ 6.24524138e-02 5.78572845e-04 9.98047775e-01 1.12555530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20255784399998 meters Centerline goodness : 0.163570 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.11, Z:1.13 [[ 9.98019040e-01 9.87513257e-03 -6.21327401e-02 -7.40664895e+00] [-9.89609136e-03 9.99951032e-01 -2.95913422e-05 -1.06850738e-01] [ 6.21294054e-02 6.44403995e-04 9.98067894e-01 1.12516488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26255784399999 meters Centerline goodness : 0.363416 with order 1 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.10, Z:1.12 [[ 9.98233265e-01 3.93446235e-03 -5.92863334e-02 -7.43347299e+00] [-3.78814852e-03 9.99989496e-01 2.58010822e-03 -1.02891513e-01] [ 5.92958621e-02 -2.35096442e-03 9.98237684e-01 1.12493803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322557844 meters Centerline goodness : 0.384570 with order 2 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.10, Z:1.12 [[ 9.98224384e-01 3.86884356e-03 -5.94399776e-02 -7.43282963e+00] [-3.73453684e-03 9.99990217e-01 2.37045809e-03 -1.02370267e-01] [ 5.94485670e-02 -2.14426828e-03 9.98229067e-01 1.12457369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382557844 meters Centerline goodness : 0.176329 with order 3 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.10, Z:1.12 [[ 9.98217193e-01 4.39030865e-03 -5.95244514e-02 -7.43234162e+00] [-4.26787653e-03 9.99988508e-01 2.18381625e-03 -1.00356513e-01] [ 5.95333550e-02 -1.92587991e-03 9.98224459e-01 1.12406845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442557844 meters Centerline goodness : 0.293701 with order 3 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.10, Z:1.12 [[ 9.98073174e-01 6.32648754e-03 -6.17245136e-02 -7.48137488e+00] [-6.11701518e-03 9.99974875e-01 3.58204258e-03 -9.91210806e-02] [ 6.17456245e-02 -3.19757081e-03 9.98086797e-01 1.12438263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502557844 meters Centerline goodness : 0.369633 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.10, Z:1.12 [[ 9.98081251e-01 6.22577980e-03 -6.16040309e-02 -7.48147695e+00] [-6.03468642e-03 9.99976387e-01 3.28753523e-03 -9.78776845e-02] [ 6.16230437e-02 -2.90946627e-03 9.98095254e-01 1.12397778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562557844 meters Centerline goodness : 0.380316 with order 2 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.10, Z:1.12 [[ 9.98106397e-01 6.20404781e-03 -6.11974699e-02 -7.48286016e+00] [-6.01286372e-03 9.99976452e-01 3.30771800e-03 -9.80894887e-02] [ 6.12165501e-02 -2.93348245e-03 9.98120198e-01 1.12448420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622557844 meters Centerline goodness : 0.363897 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.10, Z:1.13 [[ 9.98143379e-01 6.22965254e-03 -6.05886696e-02 -7.48496059e+00] [-6.01531565e-03 9.99974991e-01 3.71932984e-03 -1.00445830e-01] [ 6.06103245e-02 -3.34796448e-03 9.98155889e-01 1.12540272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682557844 meters Centerline goodness : 0.385208 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.10, Z:1.13 [[ 9.98130460e-01 6.38350011e-03 -6.07851652e-02 -7.48434621e+00] [-6.14724817e-03 9.99972811e-01 4.07288366e-03 -1.02146580e-01] [ 6.08095118e-02 -3.69160775e-03 9.98142563e-01 1.12525071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74255784399998 meters Centerline goodness : 0.275939 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.10, Z:1.12 [[ 9.98105494e-01 6.70039837e-03 -6.11598480e-02 -7.48270387e+00] [-6.45462303e-03 9.99970284e-01 4.21525829e-03 -1.02639734e-01] [ 6.11862745e-02 -3.81250870e-03 9.98119083e-01 1.12412551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80255784399998 meters Centerline goodness : 0.126881 with order 2 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.11, Z:1.12 [[ 9.98083755e-01 3.75938633e-03 -6.17631436e-02 -7.48049074e+00] [-3.67540815e-03 9.99992160e-01 1.47323606e-03 -1.06361241e-01] [ 6.17681978e-02 -1.24340822e-03 9.98089747e-01 1.12305608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86255784399998 meters Centerline goodness : 0.272609 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.11, Z:1.12 [[ 9.98047436e-01 4.19893141e-03 -6.23192098e-02 -7.47849774e+00] [-4.05210813e-03 9.99988710e-01 2.48218611e-03 -1.11149488e-01] [ 6.23289287e-02 -2.22481531e-03 9.98053182e-01 1.12224155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92255784399998 meters Centerline goodness : 0.156956 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.12, Z:1.12 [[ 9.98055725e-01 5.00327643e-03 -6.21267802e-02 -7.47923668e+00] [-4.75518976e-03 9.99980122e-01 4.14044646e-03 -1.19512850e-01] [ 6.21462611e-02 -3.83697167e-03 9.98059678e-01 1.12271690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98255784399998 meters Centerline goodness : 0.163945 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.12, Z:1.12 [[ 9.98050787e-01 1.93456369e-03 -6.23769478e-02 -7.47836341e+00] [-1.86699149e-03 9.99997606e-01 1.14155529e-03 -1.22194380e-01] [ 6.23790068e-02 -1.02287293e-03 9.98052009e-01 1.12233076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042557844 meters Centerline goodness : 0.151539 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.13, Z:1.12 [[ 9.97769281e-01 5.46875310e-03 -6.65323521e-02 -7.51940127e+00] [-5.23467318e-03 9.99979483e-01 3.69211064e-03 -1.26469635e-01] [ 6.65511783e-02 -3.33559946e-03 9.97777437e-01 1.12021521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102557844 meters Centerline goodness : 0.130581 with order 2 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.13, Z:1.12 [[ 9.97818895e-01 6.46978589e-03 -6.56931925e-02 -7.52217355e+00] [-6.21636198e-03 9.99972431e-01 4.06136587e-03 -1.25356038e-01] [ 6.57176575e-02 -3.64413494e-03 9.97831604e-01 1.12091649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162557844 meters Centerline goodness : 0.117222 with order 2 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.12, Z:1.12 [[ 9.97787487e-01 6.27704244e-03 -6.61870785e-02 -7.52076733e+00] [-6.05075005e-03 9.99975146e-01 3.61888979e-03 -1.23759032e-01] [ 6.62081494e-02 -3.21040148e-03 9.97800669e-01 1.12051995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222557844 meters Centerline goodness : 0.128004 with order 2 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.12, Z:1.12 [[ 9.97906015e-01 2.05704653e-04 -6.46803089e-02 -7.54679793e+00] [ 2.16308004e-04 9.99978737e-01 6.51752203e-03 -1.19585944e-01] [ 6.46802743e-02 -6.51786530e-03 9.97884753e-01 1.11986310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282557844 meters Centerline goodness : 0.372910 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.12, Z:1.12 [[ 9.97949024e-01 -9.58197237e-05 -6.40135613e-02 -7.54914992e+00] [ 4.86748740e-04 9.99981329e-01 6.09140450e-03 -1.17883073e-01] [ 6.40117824e-02 -6.11006970e-03 9.97930438e-01 1.12085593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342557844 meters Centerline goodness : 0.150204 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.11, Z:1.12 [[ 9.97938999e-01 -5.45815127e-04 -6.41674071e-02 -7.54855887e+00] [ 8.77320035e-04 9.99986415e-01 5.13818745e-03 -1.13534280e-01] [ 6.41637308e-02 -5.18389299e-03 9.97925921e-01 1.12037337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402557844 meters Centerline goodness : 0.110955 with order 2 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.11, Z:1.12 [[ 9.97954638e-01 -8.19280675e-04 -6.39208012e-02 -7.54842557e+00] [ 1.09008566e-03 9.99990578e-01 4.20181037e-03 -1.07855797e-01] [ 6.39167565e-02 -4.26289530e-03 9.97946129e-01 1.11924767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46255784399997 meters Centerline goodness : 0.157602 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.11, Z:1.12 [[ 9.97984132e-01 -1.09934971e-03 -6.34544233e-02 -7.55042096e+00] [ 1.33395861e-03 9.99992431e-01 3.65503487e-03 -1.05418014e-01] [ 6.34499249e-02 -3.73231238e-03 9.97978044e-01 1.12031731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52255784399998 meters Centerline goodness : 0.222681 with order 3 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.11, Z:1.12 [[ 9.97818938e-01 -6.03191777e-04 -6.60075957e-02 -7.59656100e+00] [ 8.70838221e-04 9.99991516e-01 4.02608528e-03 -1.05273766e-01] [ 6.60046072e-02 -4.07478608e-03 9.97810998e-01 1.11914911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58255784399998 meters Centerline goodness : 0.128120 with order 2 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.10, Z:1.12 [[ 9.97800053e-01 -7.86250596e-04 -6.62905491e-02 -7.59515761e+00] [ 1.01379836e-03 9.99993709e-01 3.39901247e-03 -1.02136996e-01] [ 6.62874596e-02 -3.45874007e-03 9.97794573e-01 1.11795117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64255784399998 meters Centerline goodness : 0.157574 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:-0.09, Z:1.12 [[ 9.97799299e-01 1.53479469e-03 -6.62887895e-02 -7.59472934e+00] [-1.25153662e-03 9.99989910e-01 4.31440738e-03 -9.28357894e-02] [ 6.62947424e-02 -4.22194981e-03 9.97791152e-01 1.11719178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70255784399998 meters Centerline goodness : 0.097939 with order 1 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.09, Z:1.12 [[ 9.97590991e-01 2.83732831e-03 -6.93120727e-02 -7.64029726e+00] [-2.52486448e-03 9.99986254e-01 4.59526355e-03 -8.78921224e-02] [ 6.93241582e-02 -4.40918993e-03 9.97584443e-01 1.11580456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76255784399999 meters Centerline goodness : 0.164247 with order 3 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.08, Z:1.12 [[ 9.97548843e-01 1.05797612e-02 -6.91691673e-02 -7.61855507e+00] [-1.04118016e-02 9.99941908e-01 2.78832281e-03 -8.43050856e-02] [ 6.91946489e-02 -2.06131254e-03 9.97601048e-01 1.11745013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822557844 meters Centerline goodness : 0.427646 with order 3 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.08, Z:1.12 [[ 9.97644320e-01 1.72461898e-03 -6.85772279e-02 -7.64081991e+00] [-1.51743146e-03 9.99994126e-01 3.07320634e-03 -7.97475241e-02] [ 6.85821253e-02 -2.96190561e-03 9.97641077e-01 1.11540220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882557844 meters Centerline goodness : 0.242833 with order 3 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.08, Z:1.12 [[ 9.97659259e-01 1.50519973e-03 -6.83647329e-02 -7.64172585e+00] [-1.30237301e-03 9.99994618e-01 3.01130616e-03 -7.97233124e-02] [ 6.83688975e-02 -2.91522109e-03 9.97655850e-01 1.11600028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942557844 meters Centerline goodness : 0.158736 with order 1 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.08, Z:1.11 [[ 9.97610762e-01 1.48573069e-03 -6.90692439e-02 -7.63924507e+00] [-1.28484174e-03 9.99994815e-01 2.95284884e-03 -7.94989776e-02] [ 6.90732729e-02 -2.85705073e-03 9.97607498e-01 1.11499273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002557844 meters Centerline goodness : 0.147327 with order 1 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.08, Z:1.12 [[ 9.97647024e-01 1.80414256e-03 -6.85358341e-02 -7.64090762e+00] [-1.61610219e-03 9.99994777e-01 2.79902635e-03 -7.75115500e-02] [ 6.85405260e-02 -2.68167940e-03 9.97644729e-01 1.11531968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062557844 meters Centerline goodness : 0.239297 with order 3 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.08, Z:1.12 [[ 9.97701110e-01 1.68515648e-03 -6.77469956e-02 -7.64344180e+00] [-1.52544688e-03 9.99995935e-01 2.40910438e-03 -7.56664924e-02] [ 6.77507799e-02 -2.30022167e-03 9.97699625e-01 1.11594457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122557844 meters Centerline goodness : 0.240023 with order 3 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.07, Z:1.12 [[ 9.97710947e-01 1.54697387e-03 -6.76052801e-02 -7.64391193e+00] [-1.42743788e-03 9.99997332e-01 1.81641649e-03 -7.22983551e-02] [ 6.76079096e-02 -1.71575628e-03 9.97710492e-01 1.11590279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182557844 meters Centerline goodness : 0.436550 with order 3 Centerline is valid? [False, False] Translation: X:-7.69, Y:-0.07, Z:1.11 [[ 9.97925431e-01 -4.08706196e-04 -6.43790897e-02 -7.68966550e+00] [ 3.78997673e-04 9.99999816e-01 -4.73674057e-04 -7.29885630e-02] [ 6.43792714e-02 4.48291863e-04 9.97925402e-01 1.11291167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24255784399998 meters Centerline goodness : 0.240322 with order 3 Centerline is valid? [False, False] Translation: X:-7.69, Y:-0.07, Z:1.11 [[ 9.97935951e-01 -3.54589224e-04 -6.42161278e-02 -7.69003685e+00] [ 3.32489771e-04 9.99999882e-01 -3.54828100e-04 -7.30830913e-02] [ 6.42162461e-02 3.32744512e-04 9.97935951e-01 1.11287949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30255784399998 meters Centerline goodness : 0.279312 with order 1 Centerline is valid? [False, False] Translation: X:-7.69, Y:-0.07, Z:1.11 [[ 9.97892449e-01 -4.73752222e-03 -6.47164324e-02 -7.68808101e+00] [ 4.45597933e-03 9.99979974e-01 -4.49405515e-03 -7.31371109e-02] [ 6.47364271e-02 4.19620861e-03 9.97893575e-01 1.11192715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36255784399998 meters Centerline goodness : 0.304332 with order 1 Centerline is valid? [False, False] Translation: X:-7.73, Y:-0.08, Z:1.11 [[ 9.97597740e-01 -5.08052479e-03 -6.90864532e-02 -7.72763275e+00] [ 4.76569466e-03 9.99977499e-01 -4.72110287e-03 -7.71369023e-02] [ 6.91088844e-02 4.38051662e-03 9.97599505e-01 1.10860016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42255784399998 meters Centerline goodness : 0.314744 with order 3 Centerline is valid? [False, False] Translation: X:-7.73, Y:-0.08, Z:1.11 [[ 9.97615676e-01 -5.00270394e-03 -6.88326632e-02 -7.72818308e+00] [ 4.69192782e-03 9.99978061e-01 -4.67588233e-03 -7.72709846e-02] [ 6.88545452e-02 4.34177563e-03 9.97617262e-01 1.10838743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48255784399998 meters Centerline goodness : 0.150234 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.08, Z:1.11 [[ 9.97720398e-01 3.54787185e-03 -6.73900530e-02 -7.75058473e+00] [-3.91964642e-03 9.99977817e-01 -5.38533542e-03 -8.21025319e-02] [ 6.73694516e-02 5.63720418e-03 9.97712172e-01 1.10641113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542557844 meters Centerline goodness : 0.122305 with order 2 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.08, Z:1.11 [[ 9.97754033e-01 3.65757719e-03 -6.68843091e-02 -7.75185806e+00] [-4.03577534e-03 9.99976619e-01 -5.52027011e-03 -8.07704447e-02] [ 6.68625545e-02 5.77780181e-03 9.97745466e-01 1.10631204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602557844 meters Centerline goodness : 0.147742 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.08, Z:1.11 [[ 9.97739006e-01 3.61835598e-03 -6.71102312e-02 -7.75075731e+00] [-3.99056769e-03 9.99977387e-01 -5.41304781e-03 -8.18263900e-02] [ 6.70891273e-02 5.66861686e-03 9.97730883e-01 1.10552369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662557844 meters Centerline goodness : 0.101432 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.08, Z:1.11 [[ 9.97690199e-01 3.30062269e-03 -6.78481600e-02 -7.74886842e+00] [-3.66234995e-03 9.99979733e-01 -5.20772939e-03 -8.38233525e-02] [ 6.78295962e-02 5.44418427e-03 9.97682067e-01 1.10561769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722557844 meters Centerline goodness : 0.161030 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.09, Z:1.11 [[ 9.97677643e-01 -5.15758805e-04 -6.81106037e-02 -7.74859830e+00] [-4.92784375e-05 9.99965603e-01 -8.29393705e-03 -8.70036548e-02] [ 6.81125386e-02 8.27803196e-03 9.97643301e-01 1.10607576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782557844 meters Centerline goodness : 0.243988 with order 3 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.09, Z:1.11 [[ 9.97684651e-01 -2.39223469e-04 -6.80094132e-02 -7.74880187e+00] [-2.70484540e-04 9.99971948e-01 -7.48536134e-03 -9.08501302e-02] [ 6.80092960e-02 7.48642561e-03 9.97656599e-01 1.10607482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842557844 meters Centerline goodness : 0.157944 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.10, Z:1.11 [[ 9.97743448e-01 -2.69426526e-03 -6.70876523e-02 -7.75257672e+00] [ 2.07755250e-03 9.99954960e-01 -9.26071340e-03 -9.70994634e-02] [ 6.71095815e-02 9.10043799e-03 9.97704107e-01 1.10738299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902557844 meters Centerline goodness : 0.277117 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.10, Z:1.11 [[ 9.97744777e-01 -2.26077248e-03 -6.70838887e-02 -7.75255113e+00] [ 1.68244645e-03 9.99960946e-01 -8.67618194e-03 -9.93520403e-02] [ 6.71008837e-02 8.54375017e-03 9.97709615e-01 1.10729444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96255784399997 meters Centerline goodness : 0.103591 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.10, Z:1.11 [[ 9.97787406e-01 -1.97320717e-03 -6.64559916e-02 -7.75395714e+00] [ 1.40044200e-03 9.99961484e-01 -8.66419660e-03 -9.87761908e-02] [ 6.64705283e-02 8.55195848e-03 9.97751739e-01 1.10690209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02255784399998 meters Centerline goodness : 0.235355 with order 3 Centerline is valid? [False, False] Translation: X:-7.76, Y:-0.10, Z:1.11 [[ 9.97883065e-01 -1.12288134e-03 -6.50240568e-02 -7.75824878e+00] [ 5.87686407e-04 9.99965802e-01 -8.24926424e-03 -9.83421851e-02] [ 6.50310960e-02 8.19358732e-03 9.97849599e-01 1.10764929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08255784399998 meters Centerline goodness : 0.155956 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.10, Z:1.10 [[ 9.97695077e-01 -2.01812748e-04 -6.78564176e-02 -7.74725203e+00] [-3.10487807e-04 9.99971532e-01 -7.53914187e-03 -9.90372272e-02] [ 6.78560074e-02 7.54283332e-03 9.97666612e-01 1.10290167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14255784399998 meters Centerline goodness : 0.160107 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.10, Z:1.10 [[ 9.97686352e-01 -9.57980667e-05 -6.79848014e-02 -7.74660737e+00] [-3.93719865e-04 9.99974096e-01 -7.18696695e-03 -1.00834094e-01] [ 6.79837288e-02 7.19710581e-03 9.97660470e-01 1.10242686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20255784399998 meters Centerline goodness : 0.161345 with order 1 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.11, Z:1.10 [[ 9.97575457e-01 -1.50936249e-03 -6.95767845e-02 -7.79661540e+00] [ 9.63914951e-04 9.99968548e-01 -7.87241207e-03 -1.06006305e-01] [ 6.95864785e-02 7.78625897e-03 9.97545536e-01 1.10269787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26255784399999 meters Centerline goodness : 0.162282 with order 1 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.11, Z:1.10 [[ 9.97658235e-01 -1.75066560e-03 -6.83738315e-02 -7.79999154e+00] [ 1.24667521e-03 9.99971746e-01 -7.41307502e-03 -1.09081173e-01] [ 6.83848775e-02 7.31047538e-03 9.97632230e-01 1.10326127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322557844 meters Centerline goodness : 0.130398 with order 2 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.11, Z:1.10 [[ 9.97661955e-01 -5.79419894e-03 -6.80958971e-02 -7.80046008e+00] [ 5.06915787e-03 9.99928664e-01 -1.08153308e-02 -1.11768693e-01] [ 6.81537056e-02 1.04448552e-02 9.97620157e-01 1.10310441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382557844 meters Centerline goodness : 0.132845 with order 2 Centerline is valid? [False, False] Translation: X:-7.80, Y:-0.12, Z:1.10 [[ 9.97677549e-01 -5.96345554e-03 -6.78523820e-02 -7.80165177e+00] [ 5.27344253e-03 9.99932595e-01 -1.03439015e-02 -1.15897896e-01] [ 6.79094938e-02 9.96206269e-03 9.97641748e-01 1.10388760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442557844 meters Centerline goodness : 0.125322 with order 2 Centerline is valid? [False, False] Translation: X:-7.85, Y:-0.12, Z:1.10 [[ 9.97515639e-01 -5.97454252e-03 -7.01915570e-02 -7.84835640e+00] [ 5.29593189e-03 9.99937462e-01 -9.85010213e-03 -1.22689111e-01] [ 7.02460173e-02 9.45390121e-03 9.97484898e-01 1.10273164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.502557844 meters Centerline goodness : 0.157780 with order 1 Centerline is valid? [False, False] Translation: X:-7.85, Y:-0.12, Z:1.10 [[ 9.97477992e-01 -5.74353202e-03 -7.07436748e-02 -7.84633100e+00] [ 5.06984423e-03 9.99940113e-01 -9.69881777e-03 -1.22961292e-01] [ 7.07951437e-02 9.31569786e-03 9.97447375e-01 1.10171742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562557844 meters Centerline goodness : 0.160079 with order 1 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.12, Z:1.10 [[ 9.97436565e-01 -2.41458549e-03 -7.15155151e-02 -7.84159432e+00] [ 1.89808267e-03 9.99971631e-01 -7.28932636e-03 -1.19740285e-01] [ 7.15310870e-02 7.13489829e-03 9.97412852e-01 1.09855805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622557844 meters Centerline goodness : 0.156441 with order 1 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.12, Z:1.10 [[ 9.97450746e-01 -1.90219610e-03 -7.13329624e-02 -7.84216933e+00] [ 1.36716984e-03 9.99970575e-01 -7.54848160e-03 -1.17000903e-01] [ 7.13452222e-02 7.43171433e-03 9.97423997e-01 1.09842468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682557844 meters Centerline goodness : 0.131991 with order 2 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.11, Z:1.10 [[ 9.97396275e-01 -1.40497774e-03 -7.21019884e-02 -7.83997191e+00] [ 8.41516590e-04 9.99968877e-01 -7.84456180e-03 -1.13555362e-01] [ 7.21107658e-02 7.76346170e-03 9.97366415e-01 1.09782784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74255784399998 meters Centerline goodness : 0.158377 with order 1 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.11, Z:1.10 [[ 9.97401053e-01 -1.64216738e-03 -7.20308480e-02 -7.83997874e+00] [ 1.04129862e-03 9.99964357e-01 -8.37858386e-03 -1.11168861e-01] [ 7.20420396e-02 8.28180274e-03 9.97367212e-01 1.09745076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80255784399998 meters Centerline goodness : 0.156942 with order 1 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.11, Z:1.10 [[ 9.97406556e-01 -1.83406223e-03 -7.19499753e-02 -7.84073549e+00] [ 1.19946130e-03 9.99960010e-01 -8.86224527e-03 -1.08389855e-01] [ 7.19633519e-02 8.75296032e-03 9.97368869e-01 1.09811393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86255784399998 meters Centerline goodness : 0.118339 with order 2 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.11, Z:1.10 [[ 9.97401493e-01 -1.91606438e-03 -7.20179807e-02 -7.84088229e+00] [ 1.27629694e-03 9.99959326e-01 -8.92840881e-03 -1.08143724e-01] [ 7.20321589e-02 8.81329196e-03 9.97363371e-01 1.09862986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92255784399998 meters Centerline goodness : 0.159399 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.11, Z:1.09 [[ 9.97559916e-01 -4.49074134e-03 -6.96709982e-02 -7.88530476e+00] [ 3.76899171e-03 9.99937903e-01 -1.04873971e-02 -1.10835487e-01] [ 6.97137680e-02 1.01992175e-02 9.97514895e-01 1.09483173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98255784399998 meters Centerline goodness : 0.158218 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.11, Z:1.09 [[ 9.97555960e-01 -4.60810947e-03 -6.97199482e-02 -7.88520185e+00] [ 3.89726687e-03 9.99939067e-01 -1.03282763e-02 -1.11840208e-01] [ 6.97632938e-02 1.00313163e-02 9.97513136e-01 1.09495821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042557844 meters Centerline goodness : 0.160171 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.11, Z:1.10 [[ 9.97587636e-01 -4.59859208e-03 -6.92658770e-02 -7.88691723e+00] [ 3.91385373e-03 9.99942158e-01 -1.00181219e-02 -1.13549022e-01] [ 6.93079398e-02 9.72285803e-03 9.97547931e-01 1.09582448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102557844 meters Centerline goodness : 0.140070 with order 3 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.12, Z:1.10 [[ 9.97592263e-01 -4.77298829e-03 -6.91873999e-02 -7.88710730e+00] [ 4.11893917e-03 9.99945504e-01 -9.59287877e-03 -1.16490484e-01] [ 6.92294162e-02 9.28480294e-03 9.97557557e-01 1.09593357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162557844 meters Centerline goodness : 0.166478 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.12, Z:1.10 [[ 9.97564215e-01 -4.42098777e-03 -6.96138721e-02 -7.88570052e+00] [ 3.81331257e-03 9.99953481e-01 -8.85969894e-03 -1.19800520e-01] [ 6.96498024e-02 8.57265917e-03 9.97534668e-01 1.09556031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222557844 meters Centerline goodness : 0.168746 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.12, Z:1.10 [[ 9.97560955e-01 -4.15682941e-03 -6.96768341e-02 -7.88565880e+00] [ 3.58385780e-03 9.99958747e-01 -8.34626499e-03 -1.22299730e-01] [ 6.97086537e-02 8.07619621e-03 9.97534700e-01 1.09575072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282557844 meters Centerline goodness : 0.166347 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.13, Z:1.10 [[ 9.97573948e-01 -3.66327923e-03 -6.95183289e-02 -7.88589927e+00] [ 3.16202558e-03 9.99968216e-01 -7.31905477e-03 -1.27081115e-01] [ 6.95429311e-02 7.08147963e-03 9.97553825e-01 1.09551591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342557844 meters Centerline goodness : 0.163266 with order 1 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.13, Z:1.09 [[ 9.97515488e-01 -7.38056698e-03 -7.00598178e-02 -7.88368990e+00] [ 6.68096778e-03 9.99925508e-01 -1.02148189e-02 -1.32670765e-01] [ 7.01299901e-02 9.72137263e-03 9.97490491e-01 1.09445544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402557844 meters Centerline goodness : 0.168692 with order 1 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.14, Z:1.09 [[ 9.97478417e-01 -7.03656429e-03 -7.06207828e-02 -7.88179890e+00] [ 6.38459760e-03 9.99934933e-01 -9.45342300e-03 -1.36339519e-01] [ 7.06827074e-02 8.97870013e-03 9.97458439e-01 1.09381767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46255784399997 meters Centerline goodness : 0.167762 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.14, Z:1.09 [[ 9.97468358e-01 -6.61071332e-03 -7.08037664e-02 -7.88089630e+00] [ 6.01554396e-03 9.99944789e-01 -8.61583508e-03 -1.40267522e-01] [ 7.08568140e-02 8.16809970e-03 9.97453054e-01 1.09317732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52255784399998 meters Centerline goodness : 0.169630 with order 1 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.15, Z:1.10 [[ 0.99743966 -0.00964909 -0.07085913 -7.88248655] [ 0.00894004 0.99990682 -0.01031676 -0.14938604] [ 0.07095207 0.00965687 0.99743298 1.09529178] [ 0. 0. 0. 1. ]] SLAMing on 188.58255784399998 meters Centerline goodness : 0.112801 with order 2 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.16, Z:1.10 [[ 0.9973968 -0.01337664 -0.07085686 -7.88255344] [ 0.01249778 0.99983956 -0.01283216 -0.15693386] [ 0.07101714 0.0119132 0.99740395 1.09564982] [ 0. 0. 0. 1. ]] SLAMing on 188.64255784399998 meters Centerline goodness : 0.291985 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.16, Z:1.10 [[ 0.99736573 -0.01704716 -0.07050532 -7.88348506] [ 0.01599271 0.99975207 -0.01549318 -0.16285518] [ 0.07075196 0.0143248 0.99739108 1.09599966] [ 0. 0. 0. 1. ]] SLAMing on 188.70255784399998 meters Centerline goodness : 0.143487 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.18, Z:1.10 [[ 9.97519834e-01 -8.18547857e-03 -6.99083660e-02 -7.86312321e+00] [ 7.17293443e-03 9.99865887e-01 -1.47226505e-02 -1.75398296e-01] [ 7.00195024e-02 1.41846878e-02 9.97444767e-01 1.09821074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76255784399999 meters Centerline goodness : 0.145497 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.19, Z:1.09 [[ 9.97476877e-01 -1.02277914e-04 -7.09920340e-02 -7.88147906e+00] [-9.98613253e-04 9.99879809e-01 -1.54715845e-02 -1.87241069e-01] [ 7.09850838e-02 1.55034413e-02 9.97356888e-01 1.09464488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822557844 meters Centerline goodness : 0.162946 with order 1 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.19, Z:1.09 [[ 9.97494960e-01 3.36259049e-04 -7.07367769e-02 -7.88207447e+00] [-1.38677384e-03 9.99889476e-01 -1.48024561e-02 -1.89828506e-01] [ 7.07239813e-02 1.48634712e-02 9.97385179e-01 1.09451192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882557844 meters Centerline goodness : 0.396789 with order 1 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.19, Z:1.09 [[ 9.97498511e-01 8.84653982e-04 -7.06819470e-02 -7.88214543e+00] [-1.87556937e-03 9.99900876e-01 -1.39542189e-02 -1.93642712e-01] [ 7.06625961e-02 1.40518815e-02 9.97401294e-01 1.09436342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942557844 meters Centerline goodness : 0.137261 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.20, Z:1.09 [[ 9.97499738e-01 1.21262297e-03 -7.06597574e-02 -7.88213403e+00] [-2.15407744e-03 9.99909907e-01 -1.32490968e-02 -1.96971667e-01] [ 7.06373253e-02 1.33681772e-02 9.97412482e-01 1.09423884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002557844 meters Centerline goodness : 0.198105 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.20, Z:1.09 [[ 9.97511012e-01 1.74414587e-03 -7.04892879e-02 -7.88303279e+00] [-2.60314802e-03 9.99923449e-01 -1.20962559e-02 -2.02404326e-01] [ 7.04627943e-02 1.22496425e-02 9.97439192e-01 1.09493292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062557844 meters Centerline goodness : 0.141354 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.20, Z:1.10 [[ 9.97443921e-01 -5.49457045e-03 -7.12420865e-02 -7.86199695e+00] [ 4.75809626e-03 9.99933519e-01 -1.05032154e-02 -2.01677969e-01] [ 7.12950610e-02 1.01373916e-02 9.97403754e-01 1.09708876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122557844 meters Centerline goodness : 0.154476 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.20, Z:1.10 [[ 9.97433693e-01 -5.30341213e-03 -7.13995881e-02 -7.86112383e+00] [ 4.59522402e-03 9.99938644e-01 -1.00792665e-02 -2.03975592e-01] [ 7.14486618e-02 9.72530287e-03 9.97396865e-01 1.09644006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182557844 meters Centerline goodness : 0.144012 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.20, Z:1.10 [[ 9.97441203e-01 -5.15379929e-03 -7.13055683e-02 -7.86137924e+00] [ 4.44327950e-03 9.99938925e-01 -1.01194688e-02 -2.03264816e-01] [ 7.13533670e-02 9.77674455e-03 9.97403184e-01 1.09640097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24255784399998 meters Centerline goodness : 0.142633 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.20, Z:1.10 [[ 9.97458937e-01 -5.26884622e-03 -7.10486352e-02 -7.86252414e+00] [ 4.53195902e-03 9.99934301e-01 -1.05288023e-02 -2.00862985e-01] [ 7.10994420e-02 1.01800584e-02 9.97417283e-01 1.09697197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30255784399998 meters Centerline goodness : 0.166605 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.21, Z:1.10 [[ 9.97718272e-01 -2.85001840e-04 -6.75142035e-02 -7.88776941e+00] [-5.74106426e-04 9.99919122e-01 -1.27051082e-02 -2.06623784e-01] [ 6.75123640e-02 1.27148790e-02 9.97637415e-01 1.09584383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36255784399998 meters Centerline goodness : 0.138505 with order 3 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.21, Z:1.10 [[ 9.97719936e-01 -4.54901116e-03 -6.73367301e-02 -7.88838846e+00] [ 3.45074024e-03 9.99859270e-01 -1.64174684e-02 -2.08664971e-01] [ 6.74019370e-02 1.61476740e-02 9.97595224e-01 1.09612415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42255784399998 meters Centerline goodness : 0.138179 with order 3 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.21, Z:1.10 [[ 9.97661714e-01 -4.67238999e-03 -6.81855839e-02 -7.88588004e+00] [ 3.60365540e-03 9.99868860e-01 -1.57885021e-02 -2.12920122e-01] [ 6.82504120e-02 1.55058667e-02 9.97547718e-01 1.09573947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48255784399998 meters Centerline goodness : 0.183561 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.22, Z:1.10 [[ 9.97627724e-01 -4.42361017e-03 -6.86975713e-02 -7.88448447e+00] [ 3.42951288e-03 9.99887798e-01 -1.45818359e-02 -2.20323642e-01] [ 6.87543677e-02 1.43116445e-02 9.97530959e-01 1.09580214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542557844 meters Centerline goodness : 0.148187 with order 2 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.23, Z:1.10 [[ 9.97656879e-01 -3.99109243e-03 -6.82995056e-02 -7.88598521e+00] [ 3.07846354e-03 9.99904642e-01 -1.34621987e-02 -2.25838385e-01] [ 6.83467216e-02 1.32203976e-02 9.97574031e-01 1.09656200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.602557844 meters Centerline goodness : 0.138579 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.23, Z:1.10 [[ 9.97640287e-01 -3.41112213e-03 -6.85727556e-02 -7.88493756e+00] [ 2.57489580e-03 9.99921290e-01 -1.22794227e-02 -2.31526937e-01] [ 6.86092448e-02 1.20738790e-02 9.97570545e-01 1.09614894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662557844 meters Centerline goodness : 0.144326 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.24, Z:1.10 [[ 9.97594083e-01 -2.81051202e-03 -6.92686580e-02 -7.88251045e+00] [ 2.02630587e-03 9.99933091e-01 -1.13888914e-02 -2.35426114e-01] [ 6.92960320e-02 1.12211311e-02 9.97533030e-01 1.09520617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722557844 meters Centerline goodness : 0.145378 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.24, Z:1.10 [[ 9.97613374e-01 -2.46590078e-03 -6.90034476e-02 -7.88392648e+00] [ 1.74078785e-03 9.99942658e-01 -1.05665175e-02 -2.40074944e-01] [ 6.90255467e-02 1.04211788e-02 9.97560461e-01 1.09625234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782557844 meters Centerline goodness : 0.142965 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.24, Z:1.10 [[ 9.97575812e-01 -2.31441845e-03 -6.95495720e-02 -7.88201524e+00] [ 1.60335329e-03 9.99945895e-01 -1.02779463e-02 -2.41407016e-01] [ 6.95695965e-02 1.01415180e-02 9.97525549e-01 1.09553923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842557844 meters Centerline goodness : 0.137104 with order 2 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.24, Z:1.10 [[ 9.97581539e-01 -2.21210621e-03 -6.94707135e-02 -7.88228971e+00] [ 1.51457484e-03 9.99947930e-01 -1.00917220e-02 -2.42370503e-01] [ 6.94894201e-02 9.96209694e-03 9.97532945e-01 1.09564086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902557844 meters Centerline goodness : 0.144693 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.24, Z:1.10 [[ 9.97588375e-01 -2.12649798e-03 -6.93751532e-02 -7.88278773e+00] [ 1.43918252e-03 9.99949405e-01 -9.95570608e-03 -2.42833598e-01] [ 6.93928140e-02 9.83185314e-03 9.97540963e-01 1.09601228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96255784399997 meters Centerline goodness : 0.138550 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.24, Z:1.10 [[ 9.97565234e-01 -2.21290618e-03 -6.97044289e-02 -7.88166201e+00] [ 1.51623161e-03 9.99948388e-01 -1.00460192e-02 -2.42924465e-01] [ 6.97230622e-02 9.91587141e-03 9.97517103e-01 1.09565138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02255784399998 meters Centerline goodness : 0.140031 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.25, Z:1.09 [[ 9.97459624e-01 5.68286138e-03 -7.10070603e-02 -7.90164504e+00] [-6.48264649e-03 9.99918065e-01 -1.10380907e-02 -2.47848237e-01] [ 7.09385144e-02 1.14703635e-02 9.97414737e-01 1.09401754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08255784399998 meters Centerline goodness : 0.142573 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.25, Z:1.09 [[ 9.97464088e-01 5.60090355e-03 -7.09508439e-02 -7.90185771e+00] [-6.42274304e-03 9.99914841e-01 -1.13603856e-02 -2.45981246e-01] [ 7.08811734e-02 1.17872757e-02 9.97415119e-01 1.09410768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14255784399998 meters Centerline goodness : 0.145132 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.24, Z:1.09 [[ 9.97474491e-01 5.50013033e-03 -7.08123502e-02 -7.90258947e+00] [-6.34707168e-03 9.99910929e-01 -1.17409132e-02 -2.43738678e-01] [ 7.07414664e-02 1.21607125e-02 9.97420554e-01 1.09460431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20255784399998 meters Centerline goodness : 0.137231 with order 2 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.24, Z:1.09 [[ 9.97458370e-01 5.25023936e-03 -7.10579765e-02 -7.90144674e+00] [-6.14061208e-03 9.99905280e-01 -1.23175876e-02 -2.41052203e-01] [ 7.09865756e-02 1.27226203e-02 9.97396130e-01 1.09381437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26255784399999 meters Centerline goodness : 0.193267 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.24, Z:1.09 [[ 9.97484728e-01 5.12387985e-03 -7.06962762e-02 -7.90309372e+00] [-6.03569731e-03 9.99901261e-01 -1.26900880e-02 -2.38558226e-01] [ 7.06242732e-02 1.30848703e-02 9.97417164e-01 1.09468488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322557844 meters Centerline goodness : 0.137003 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.24, Z:1.10 [[ 9.97514894e-01 4.91330604e-03 -7.02843965e-02 -7.90477688e+00] [-5.81672713e-03 9.99903005e-01 -1.26549066e-02 -2.39131448e-01] [ 7.02154018e-02 1.30322830e-02 9.97446719e-01 1.09566959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382557844 meters Centerline goodness : 0.141891 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.24, Z:1.10 [[ 9.97607778e-01 -5.05669479e-03 -6.89430942e-02 -7.88432910e+00] [ 4.17948570e-03 9.99908546e-01 -1.28619828e-02 -2.37417909e-01] [ 6.90018283e-02 1.25430675e-02 9.97537678e-01 1.09725190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442557844 meters Centerline goodness : 0.141821 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.24, Z:1.10 [[ 9.97613053e-01 -5.73233500e-03 -6.88137880e-02 -7.88475086e+00] [ 4.87066399e-03 9.99907704e-01 -1.26830390e-02 -2.40833007e-01] [ 6.88801402e-02 1.23175964e-02 9.97548898e-01 1.09762332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502557844 meters Centerline goodness : 0.131621 with order 2 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.25, Z:1.10 [[ 0.99758608 -0.00956575 -0.06877863 -7.8849828 ] [ 0.00852632 0.99984521 -0.01539042 -0.24688841] [ 0.0689152 0.01476684 0.99751323 1.09793823] [ 0. 0. 0. 1. ]] SLAMing on 190.562557844 meters Centerline goodness : 0.145358 with order 3 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.25, Z:1.10 [[ 0.99761313 -0.00950323 -0.06839391 -7.88600102] [ 0.0085185 0.99985603 -0.01467515 -0.2510576 ] [ 0.06852353 0.01405751 0.99755046 1.09808969] [ 0. 0. 0. 1. ]] SLAMing on 190.622557844 meters Centerline goodness : 0.142570 with order 3 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.26, Z:1.10 [[ 0.99761827 -0.0093764 -0.06833642 -7.88634604] [ 0.00845384 0.99986936 -0.01377692 -0.25612374] [ 0.06845667 0.0131664 0.99756721 1.09843488] [ 0. 0. 0. 1. ]] SLAMing on 190.682557844 meters Centerline goodness : 0.147788 with order 3 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.26, Z:1.10 [[ 0.99757494 -0.01339174 -0.06830004 -7.88574533] [ 0.01225548 0.9997799 -0.0170283 -0.26011271] [ 0.06851304 0.01614996 0.99751949 1.09767164] [ 0. 0. 0. 1. ]] SLAMing on 190.74255784399998 meters Centerline goodness : 0.152428 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.27, Z:1.10 [[ 9.97562857e-01 -4.51806685e-03 -6.96270995e-02 -7.90401227e+00] [ 3.30888354e-03 9.99841876e-01 -1.74721211e-02 -2.70352476e-01] [ 6.96950299e-02 1.71991511e-02 9.97420068e-01 1.09565145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80255784399998 meters Centerline goodness : 0.176804 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.27, Z:1.10 [[ 9.97531581e-01 -4.45239054e-03 -7.00779586e-02 -7.90245729e+00] [ 3.22706912e-03 9.99840100e-01 -1.75886293e-02 -2.69534412e-01] [ 7.01450646e-02 1.73190668e-02 9.97386445e-01 1.09502689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86255784399998 meters Centerline goodness : 0.147132 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.27, Z:1.10 [[ 9.97560935e-01 -1.34701732e-03 -6.97880063e-02 -7.90546630e+00] [ 2.93528315e-04 9.99885891e-01 -1.51036158e-02 -2.65898547e-01] [ 6.98003877e-02 1.50462923e-02 9.97447500e-01 1.09731812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92255784399998 meters Centerline goodness : 0.146547 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.26, Z:1.10 [[ 9.97577733e-01 -1.52569197e-03 -6.95437866e-02 -7.90603323e+00] [ 4.40495801e-04 9.99877948e-01 -1.56171673e-02 -2.63494049e-01] [ 6.95591256e-02 1.55487046e-02 9.97456649e-01 1.09719074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98255784399998 meters Centerline goodness : 0.148755 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.26, Z:1.10 [[ 9.97575280e-01 -1.56375720e-03 -6.95781241e-02 -7.90600604e+00] [ 4.77820800e-04 9.99877865e-01 -1.56213467e-02 -2.63394722e-01] [ 6.95940541e-02 1.55502234e-02 9.97454189e-01 1.09722312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042557844 meters Centerline goodness : 0.146400 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.26, Z:1.10 [[ 9.97594656e-01 -1.63121608e-03 -6.92982047e-02 -7.90713380e+00] [ 5.55859198e-04 9.99879181e-01 -1.55342673e-02 -2.63867784e-01] [ 6.93151719e-02 1.54583820e-02 9.97475035e-01 1.09783949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102557844 meters Centerline goodness : 0.148154 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.26, Z:1.10 [[ 9.97621510e-01 -1.70377488e-03 -6.89087822e-02 -7.90837486e+00] [ 6.30275061e-04 9.99878156e-01 -1.55973054e-02 -2.63667795e-01] [ 6.89269604e-02 1.55167759e-02 9.97501029e-01 1.09815121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162557844 meters Centerline goodness : 0.138164 with order 2 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.26, Z:1.10 [[ 9.97597979e-01 -1.78166204e-03 -6.92466392e-02 -7.90691996e+00] [ 6.92597752e-04 9.99875750e-01 -1.57481513e-02 -2.63086644e-01] [ 6.92660932e-02 1.56623638e-02 9.97475262e-01 1.09728704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222557844 meters Centerline goodness : 0.145777 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.27, Z:1.09 [[ 9.97536035e-01 6.15889625e-03 -6.98850981e-02 -7.92648786e+00] [-7.33583267e-03 9.99835351e-01 -1.65968894e-02 -2.69017572e-01] [ 6.97713731e-02 1.70686607e-02 9.97416972e-01 1.09488324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282557844 meters Centerline goodness : 0.142339 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.27, Z:1.09 [[ 9.97533368e-01 6.21613164e-03 -6.99180858e-02 -7.92645915e+00] [-7.38502572e-03 9.99837054e-01 -1.64720018e-02 -2.69633325e-01] [ 6.98043008e-02 1.69477183e-02 9.97416731e-01 1.09498327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342557844 meters Centerline goodness : 0.151867 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.27, Z:1.09 [[ 9.97510177e-01 6.54141583e-03 -7.02186308e-02 -7.92549870e+00] [-7.66919811e-03 9.99845705e-01 -1.58034503e-02 -2.72765611e-01] [ 7.01044195e-02 1.63026231e-02 9.97406434e-01 1.09480144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402557844 meters Centerline goodness : 0.138119 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.27, Z:1.10 [[ 9.97518749e-01 6.83650943e-03 -7.00685934e-02 -7.92599083e+00] [-7.93628197e-03 9.99849465e-01 -1.54293059e-02 -2.74106070e-01] [ 6.99525630e-02 1.59471060e-02 9.97422844e-01 1.09509224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46255784399997 meters Centerline goodness : 0.175626 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.27, Z:1.10 [[ 9.97525171e-01 6.92187319e-03 -6.99687199e-02 -7.92650836e+00] [-8.01459054e-03 9.99850083e-01 -1.53485774e-02 -2.74682189e-01] [ 6.98519894e-02 1.58713630e-02 9.97431100e-01 1.09564781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52255784399998 meters Centerline goodness : 0.132995 with order 3 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.27, Z:1.09 [[ 9.97458854e-01 7.31360534e-03 -7.08685083e-02 -7.92349564e+00] [-8.43792486e-03 9.99843043e-01 -1.55785054e-02 -2.72925239e-01] [ 7.07434499e-02 1.61369013e-02 9.97364008e-01 1.09498859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58255784399998 meters Centerline goodness : 0.132318 with order 3 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.27, Z:1.09 [[ 0.99736139 0.00996311 -0.07190963 -7.9188614 ] [-0.01097574 0.9998459 -0.01370046 -0.2677613 ] [ 0.07176205 0.01445357 0.99731705 1.09321881] [ 0. 0. 0. 1. ]] SLAMing on 191.64255784399998 meters Centerline goodness : 0.176729 with order 3 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.26, Z:1.09 [[ 0.99729908 0.01379487 -0.07214053 -7.91796087] [-0.01460529 0.99983589 -0.01071852 -0.2628533 ] [ 0.07198083 0.01174321 0.99733688 1.09285052] [ 0. 0. 0. 1. ]] SLAMing on 191.70255784399998 meters Centerline goodness : 0.142483 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.25, Z:1.10 [[ 9.97342022e-01 6.32251694e-03 -7.25873119e-02 -7.89969174e+00] [-7.07102219e-03 9.99924401e-01 -1.00594522e-02 -2.53628010e-01] [ 7.25182234e-02 1.05459809e-02 9.97311330e-01 1.09548982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76255784399999 meters Centerline goodness : 0.138987 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.25, Z:1.10 [[ 9.97463056e-01 -2.09837941e-03 -7.11550970e-02 -7.92703877e+00] [ 1.48908782e-03 9.99961783e-01 -8.61483088e-03 -2.50502982e-01] [ 7.11704548e-02 8.48701936e-03 9.97428061e-01 1.09613474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822557844 meters Centerline goodness : 0.141749 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.25, Z:1.10 [[ 9.97514129e-01 -2.20138282e-03 -7.04323568e-02 -7.92963987e+00] [ 1.61070825e-03 9.99963068e-01 -8.44210393e-03 -2.51491915e-01] [ 7.04483399e-02 8.30767197e-03 9.97480834e-01 1.09742507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882557844 meters Centerline goodness : 0.132184 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.25, Z:1.10 [[ 9.97518174e-01 -2.24942503e-03 -7.03735182e-02 -7.92990856e+00] [ 1.69361371e-03 9.99966911e-01 -7.95668816e-03 -2.54632143e-01] [ 7.03890875e-02 7.81775550e-03 9.97488977e-01 1.09767644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942557844 meters Centerline goodness : 0.144134 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.26, Z:1.10 [[ 9.97477477e-01 -2.02948274e-03 -7.09546620e-02 -7.92824723e+00] [ 1.50623117e-03 9.99971284e-01 -7.42717642e-03 -2.57305860e-01] [ 7.09676977e-02 7.30156707e-03 9.97451890e-01 1.09748993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002557844 meters Centerline goodness : 0.131643 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.26, Z:1.10 [[ 9.97457365e-01 -1.91345278e-03 -7.12400397e-02 -7.92763183e+00] [ 1.38843421e-03 9.99971519e-01 -7.41850156e-03 -2.57237542e-01] [ 7.12522057e-02 7.30072691e-03 9.97431613e-01 1.09768000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062557844 meters Centerline goodness : 0.139726 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.26, Z:1.10 [[ 9.97583702e-01 8.68197004e-03 -6.89302559e-02 -7.90894633e+00] [-9.20446334e-03 9.99931239e-01 -7.26603360e-03 -2.59588571e-01] [ 6.88624327e-02 7.88294272e-03 9.97595020e-01 1.09961848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122557844 meters Centerline goodness : 0.140748 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.26, Z:1.10 [[ 9.97618449e-01 8.96805935e-03 -6.83886287e-02 -7.91054086e+00] [-9.46595724e-03 9.99930976e-01 -6.95983016e-03 -2.60697571e-01] [ 6.83214920e-02 7.59061881e-03 9.97634480e-01 1.09999696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182557844 meters Centerline goodness : 0.139765 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.26, Z:1.10 [[ 9.97617588e-01 9.18866789e-03 -6.83719018e-02 -7.91080683e+00] [-9.65642260e-03 9.99932159e-01 -6.51396979e-03 -2.62732576e-01] [ 6.83074087e-02 7.15867881e-03 9.97638638e-01 1.10037152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24255784399998 meters Centerline goodness : 0.131914 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.26, Z:1.10 [[ 9.97636970e-01 5.48933933e-03 -6.84860824e-02 -7.90915507e+00] [-6.17470910e-03 9.99932917e-01 -9.79975728e-03 -2.64825132e-01] [ 6.84276939e-02 1.01994818e-02 9.97603940e-01 1.09865133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30255784399998 meters Centerline goodness : 0.130023 with order 3 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.27, Z:1.10 [[ 9.97777787e-01 -3.06756546e-03 -6.65588343e-02 -7.89001279e+00] [ 2.48417073e-03 9.99957787e-01 -8.84609232e-03 -2.66744615e-01] [ 6.65831606e-02 8.66109090e-03 9.97743288e-01 1.10081851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36255784399998 meters Centerline goodness : 0.128386 with order 3 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.27, Z:1.10 [[ 9.97717910e-01 -3.03965887e-03 -6.74517001e-02 -7.88701016e+00] [ 2.48461723e-03 9.99962375e-01 -8.31109363e-03 -2.69993572e-01] [ 6.74744251e-02 8.12453532e-03 9.97687924e-01 1.09981393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42255784399998 meters Centerline goodness : 0.155615 with order 1 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.28, Z:1.10 [[ 9.97505256e-01 -4.51493726e-03 -7.04477077e-02 -7.92942415e+00] [ 3.95345509e-03 9.99959318e-01 -8.10759316e-03 -2.76984207e-01] [ 7.04814470e-02 7.80885494e-03 9.97482525e-01 1.09677960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48255784399998 meters Centerline goodness : 0.135392 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.28, Z:1.10 [[ 9.97502657e-01 -4.32577033e-03 -7.04963602e-02 -7.92935930e+00] [ 3.77080638e-03 9.99960862e-01 -8.00341519e-03 -2.77067289e-01] [ 7.05282221e-02 7.71759979e-03 9.97479929e-01 1.09681129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.542557844 meters Centerline goodness : 0.140801 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.28, Z:1.10 [[ 9.97506484e-01 -4.29389531e-03 -7.04441450e-02 -7.92924628e+00] [ 3.73305662e-03 9.99960298e-01 -8.09118560e-03 -2.76351233e-01] [ 7.04760910e-02 7.80803812e-03 9.97482910e-01 1.09637178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602557844 meters Centerline goodness : 0.132743 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.28, Z:1.10 [[ 9.97496705e-01 -4.35107131e-03 -7.05789790e-02 -7.92900636e+00] [ 3.78200779e-03 9.99959273e-01 -8.19442002e-03 -2.75961760e-01] [ 7.06117590e-02 7.90697671e-03 9.97472536e-01 1.09646951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662557844 meters Centerline goodness : 0.218771 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.28, Z:1.10 [[ 9.97515124e-01 -4.45164018e-03 -7.03118777e-02 -7.92993423e+00] [ 3.88736571e-03 9.99959150e-01 -8.16010411e-03 -2.76309738e-01] [ 7.03453312e-02 7.86649928e-03 9.97491680e-01 1.09681700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722557844 meters Centerline goodness : 0.134762 with order 3 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.28, Z:1.10 [[ 9.97738480e-01 6.86590186e-04 -6.72120140e-02 -7.95482782e+00] [-1.38164004e-03 9.99946048e-01 -1.02952173e-02 -2.81050325e-01] [ 6.72013192e-02 1.03647973e-02 9.97685599e-01 1.09532137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782557844 meters Centerline goodness : 0.126790 with order 3 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.28, Z:1.10 [[ 9.97749731e-01 7.16451945e-04 -6.70444751e-02 -7.95521820e+00] [-1.40917907e-03 9.99946109e-01 -1.02856306e-02 -2.80977927e-01] [ 6.70334928e-02 1.03569628e-02 9.97696970e-01 1.09523962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842557844 meters Centerline goodness : 0.135905 with order 3 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.28, Z:1.09 [[ 9.97734278e-01 9.08946828e-04 -6.72717196e-02 -7.95402645e+00] [-1.58231482e-03 9.99949175e-01 -9.95706821e-03 -2.82265295e-01] [ 6.72592501e-02 1.00409533e-02 9.97685007e-01 1.09428007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902557844 meters Centerline goodness : 0.131459 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.29, Z:1.10 [[ 9.97938835e-01 6.73806671e-03 -6.38175600e-02 -7.93396160e+00] [-7.59902766e-03 9.99883235e-01 -1.32578693e-02 -2.86018695e-01] [ 6.37207759e-02 1.37154940e-02 9.97873513e-01 1.09534251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96255784399997 meters Centerline goodness : 0.149915 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.29, Z:1.09 [[ 9.97944864e-01 7.03252551e-03 -6.36913849e-02 -7.93385193e+00] [-7.85686810e-03 9.99888464e-01 -1.27015613e-02 -2.88243908e-01] [ 6.35949570e-02 1.31758727e-02 9.97888810e-01 1.09472655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02255784399998 meters Centerline goodness : 0.132830 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.29, Z:1.09 [[ 9.97912410e-01 7.15552399e-03 -6.41842625e-02 -7.93169800e+00] [-7.96092287e-03 9.99892645e-01 -1.23012697e-02 -2.90562902e-01] [ 6.40893500e-02 1.27865557e-02 9.97862245e-01 1.09357543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08255784399998 meters Centerline goodness : 0.135681 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.29, Z:1.09 [[ 9.97917981e-01 3.32537564e-03 -6.44099764e-02 -7.93071152e+00] [-4.34709575e-03 9.99866840e-01 -1.57291189e-02 -2.92640852e-01] [ 6.43490944e-02 1.59763669e-02 9.97799554e-01 1.09290788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14255784399998 meters Centerline goodness : 0.214625 with order 2 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.30, Z:1.09 [[ 9.97909038e-01 3.52654992e-03 -6.45377074e-02 -7.93045858e+00] [-4.51682189e-03 9.99874201e-01 -1.52046167e-02 -2.95035193e-01] [ 6.44759688e-02 1.54643297e-02 9.97799431e-01 1.09295470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20255784399998 meters Centerline goodness : 0.181765 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.30, Z:1.09 [[ 9.97983536e-01 -5.35038999e-03 -6.32474157e-02 -7.90942820e+00] [ 4.42365931e-03 9.99880934e-01 -1.47834306e-02 -2.95744516e-01] [ 6.33189822e-02 1.44738353e-02 9.97888378e-01 1.09433809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26255784399999 meters Centerline goodness : 0.186630 with order 2 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.31, Z:1.09 [[ 9.98074436e-01 -8.67307929e-03 -6.14182165e-02 -7.91553174e+00] [ 7.75220920e-03 9.99854179e-01 -1.52158887e-02 -3.08267027e-01] [ 6.15412290e-02 1.47104627e-02 9.97996132e-01 1.09416486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322557844 meters Centerline goodness : 0.157276 with order 1 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.32, Z:1.09 [[ 0.99806574 -0.00931778 -0.06146506 -7.91543176] [ 0.00843099 0.99985683 -0.01467109 -0.3153098 ] [ 0.06159296 0.0141245 0.99800141 1.09313494] [ 0. 0. 0. 1. ]] SLAMing on 193.382557844 meters Centerline goodness : 0.132726 with order 3 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.33, Z:1.09 [[ 0.99805234 -0.01258458 -0.06109949 -7.91644803] [ 0.0116534 0.99981082 -0.01557299 -0.32550313] [ 0.06128391 0.01483064 0.99801019 1.09133269] [ 0. 0. 0. 1. ]] SLAMing on 193.442557844 meters Centerline goodness : 0.127600 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.33, Z:1.09 [[ 0.99797888 -0.01258802 -0.06228721 -7.91380172] [ 0.0117216 0.99982967 -0.01425608 -0.33173779] [ 0.06245605 0.01349716 0.99795645 1.09060235] [ 0. 0. 0. 1. ]] SLAMing on 193.502557844 meters Centerline goodness : 0.124781 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.34, Z:1.09 [[ 9.98047725e-01 -3.26254123e-03 -6.23706283e-02 -7.93087668e+00] [ 2.39490144e-03 9.99899397e-01 -1.39807326e-02 -3.43673017e-01] [ 6.24099663e-02 1.38040668e-02 9.97955131e-01 1.08774169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562557844 meters Centerline goodness : 0.137056 with order 3 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.35, Z:1.09 [[ 0.99822042 -0.01313997 -0.05816635 -7.9113478 ] [ 0.01230552 0.99981651 -0.01468086 -0.35090558] [ 0.05834859 0.01393897 0.99819895 1.0890203 ] [ 0. 0. 0. 1. ]] SLAMing on 193.622557844 meters Centerline goodness : 0.217106 with order 3 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.36, Z:1.09 [[ 9.98134570e-01 -6.18172780e-03 -6.07385128e-02 -7.92724723e+00] [ 5.23215169e-03 9.99861791e-01 -1.57804648e-02 -3.63864506e-01] [ 6.08276687e-02 1.54332343e-02 9.98028963e-01 1.08533993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682557844 meters Centerline goodness : 0.133245 with order 3 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.37, Z:1.09 [[ 9.98255662e-01 -5.89686052e-03 -5.87440261e-02 -7.88173946e+00] [ 4.95319973e-03 9.99856557e-01 -1.61966253e-02 -3.67442627e-01] [ 5.88311089e-02 1.58774020e-02 9.98141678e-01 1.08648288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74255784399998 meters Centerline goodness : 0.122641 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.37, Z:1.09 [[ 9.98330788e-01 2.96297916e-03 -5.76789246e-02 -7.86279327e+00] [-3.96352487e-03 9.99843522e-01 -1.72401513e-02 -3.72526527e-01] [ 5.76188169e-02 1.74399857e-02 9.98186315e-01 1.08813085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80255784399998 meters Centerline goodness : 0.134942 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.37, Z:1.09 [[ 9.98292280e-01 2.91609201e-03 -5.83439833e-02 -7.86048866e+00] [-3.91805451e-03 9.99846683e-01 -1.70663465e-02 -3.73610987e-01] [ 5.82852711e-02 1.72657969e-02 9.98150650e-01 1.08705508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86255784399998 meters Centerline goodness : 0.141381 with order 3 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.37, Z:1.09 [[ 9.98198913e-01 -6.39717723e-03 -5.96490316e-02 -7.83613357e+00] [ 5.35233168e-03 9.99829726e-01 -1.76599060e-02 -3.73028012e-01] [ 5.97518485e-02 1.73088375e-02 9.98063185e-01 1.08772951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92255784399998 meters Centerline goodness : 0.159365 with order 1 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.37, Z:1.09 [[ 9.98225030e-01 -6.34309536e-03 -5.92161702e-02 -7.83811975e+00] [ 5.31795530e-03 9.99833535e-01 -1.74533978e-02 -3.72638328e-01] [ 5.93170214e-02 1.71075096e-02 9.98092593e-01 1.08892595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98255784399998 meters SLAMing on 194.042557844 meters Centerline goodness : 0.137237 with order 3 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.37, Z:1.09 [[ 9.98208187e-01 -7.50769342e-03 -5.93637149e-02 -7.83779953e+00] [ 6.46375201e-03 9.99821420e-01 -1.77580282e-02 -3.68535030e-01] [ 5.94864356e-02 1.73424967e-02 9.98078455e-01 1.08912372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102557844 meters Centerline goodness : 0.171572 with order 1 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.37, Z:1.09 [[ 9.98183815e-01 -7.88481228e-03 -5.97235381e-02 -7.83681502e+00] [ 6.86128931e-03 9.99826396e-01 -1.73234128e-02 -3.70685862e-01] [ 5.98497617e-02 1.68821698e-02 9.98064626e-01 1.08886481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162557844 meters SLAMing on 194.222557844 meters Centerline goodness : 0.160839 with order 3 Centerline is valid? [False, False] Translation: X:-7.84, Y:-0.37, Z:1.09 [[ 9.98226399e-01 -5.81969656e-03 -5.92468413e-02 -7.83834637e+00] [ 5.02238019e-03 9.99894935e-01 -1.35975624e-02 -3.69847300e-01] [ 5.93197502e-02 1.32758856e-02 9.98150749e-01 1.08902961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282557844 meters SLAMing on 194.342557844 meters Centerline goodness : 0.188837 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.36, Z:1.09 [[ 9.98082921e-01 3.90672829e-03 -6.17674700e-02 -7.86095843e+00] [-4.69913162e-03 9.99908453e-01 -1.26887563e-02 -3.59695021e-01] [ 6.17122438e-02 1.29546844e-02 9.98009907e-01 1.08911633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402557844 meters Centerline goodness : 0.214697 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.36, Z:1.09 [[ 9.98090497e-01 3.45967950e-03 -6.16716374e-02 -7.86136512e+00] [-4.29959131e-03 9.99899740e-01 -1.34915923e-02 -3.55525280e-01] [ 6.16187776e-02 1.37309929e-02 9.98005304e-01 1.08950017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46255784399997 meters Centerline goodness : 0.227125 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.35, Z:1.09 [[ 9.97977014e-01 2.20700415e-03 -6.35374572e-02 -7.85500487e+00] [-3.14419445e-03 9.99887681e-01 -1.46539942e-02 -3.52036461e-01] [ 6.34979793e-02 1.48241235e-02 9.97871862e-01 1.08740807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52255784399998 meters Centerline goodness : 0.137063 with order 3 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.35, Z:1.09 [[ 9.97990024e-01 1.57845007e-03 -6.33515622e-02 -7.85592690e+00] [-2.53184994e-03 9.99884709e-01 -1.49718944e-02 -3.51682807e-01] [ 6.33206260e-02 1.51021979e-02 9.97878962e-01 1.08804380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58255784399998 meters Centerline goodness : 0.145789 with order 2 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.35, Z:1.09 [[ 9.97821861e-01 -1.33488459e-03 -6.59526549e-02 -7.90516339e+00] [ 2.76079039e-04 9.99870983e-01 -1.60605312e-02 -3.49605336e-01] [ 6.59655848e-02 1.60073410e-02 9.97693493e-01 1.08915914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64255784399998 meters Centerline goodness : 0.228868 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.35, Z:1.09 [[ 9.97802410e-01 2.13186573e-03 -6.62254110e-02 -7.90430902e+00] [-2.95477274e-03 9.99919612e-01 -1.23303880e-02 -3.49737217e-01] [ 6.61938005e-02 1.24989719e-02 9.97728498e-01 1.08887911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70255784399998 meters Centerline goodness : 0.154606 with order 3 Centerline is valid? [False, False] Translation: X:-7.90, Y:-0.35, Z:1.09 [[ 9.97817826e-01 2.13290723e-03 -6.59927013e-02 -7.90471040e+00] [-2.99163710e-03 9.99912104e-01 -1.29164143e-02 -3.46055381e-01] [ 6.59593513e-02 1.30856546e-02 9.97736503e-01 1.08892350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76255784399999 meters Centerline goodness : 0.137879 with order 3 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.33, Z:1.09 [[ 9.97655296e-01 4.67544349e-03 -6.82792158e-02 -7.95235821e+00] [-5.46154793e-03 9.99920887e-01 -1.13309534e-02 -3.34106600e-01] [ 6.82208368e-02 1.16772959e-02 9.97601904e-01 1.09004645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822557844 meters Centerline goodness : 0.137156 with order 3 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.33, Z:1.09 [[ 0.99767391 0.0082467 -0.06766648 -7.95393455] [-0.00887067 0.99992082 -0.00892598 -0.32604541] [ 0.06758751 0.00950547 0.99766807 1.09043327] [ 0. 0. 0. 1. ]] SLAMing on 194.882557844 meters Centerline goodness : 0.129453 with order 3 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.32, Z:1.09 [[ 9.97685704e-01 7.74254890e-03 -6.75521223e-02 -7.95376775e+00] [-8.43642342e-03 9.99914485e-01 -9.99246535e-03 -3.20789418e-01] [ 6.74689784e-02 1.05392381e-02 9.97665706e-01 1.08985283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942557844 meters Centerline goodness : 0.095785 with order 1 Centerline is valid? [False, False] Translation: X:-7.97, Y:-0.31, Z:1.09 [[ 9.97696626e-01 -1.23888959e-03 -6.78226207e-02 -7.97217651e+00] [ 5.94469589e-04 9.99954498e-01 -9.52090781e-03 -3.07204939e-01] [ 6.78313300e-02 9.45865911e-03 9.97651966e-01 1.08757751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002557844 meters Centerline goodness : 0.096399 with order 1 Centerline is valid? [False, False] Translation: X:-7.97, Y:-0.30, Z:1.09 [[ 9.97660677e-01 -3.16013658e-04 -6.83598905e-02 -7.96842125e+00] [-3.18093801e-04 9.99957029e-01 -9.26493227e-03 -2.97507593e-01] [ 6.83598808e-02 9.26500346e-03 9.97617706e-01 1.08503529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062557844 meters Centerline goodness : 0.248193 with order 3 Centerline is valid? [False, False] Translation: X:-7.97, Y:-0.29, Z:1.08 [[ 9.97645606e-01 -5.99104091e-04 -6.85775966e-02 -7.96729640e+00] [-7.68823783e-05 9.99951443e-01 -9.85418565e-03 -2.94412883e-01] [ 6.85801703e-02 9.83625742e-03 9.97597117e-01 1.08429431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122557844 meters Centerline goodness : 0.106288 with order 1 Centerline is valid? [False, False] Translation: X:-8.01, Y:-0.28, Z:1.08 [[ 9.97471653e-01 -1.59576393e-03 -7.10475553e-02 -8.01364211e+00] [ 8.09713808e-04 9.99938164e-01 -1.10911442e-02 -2.80531586e-01] [ 7.10608608e-02 1.10055738e-02 9.97411265e-01 1.08394727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182557844 meters Centerline goodness : 0.111446 with order 1 Centerline is valid? [False, False] Translation: X:-8.02, Y:-0.27, Z:1.09 [[ 9.97531411e-01 -1.51724951e-04 -7.02215105e-02 -8.01770365e+00] [-5.80666080e-04 9.99945654e-01 -1.04091945e-02 -2.72186170e-01] [ 7.02192736e-02 1.04242737e-02 9.97477112e-01 1.08599969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24255784399998 meters Centerline goodness : 0.104365 with order 1 Centerline is valid? [False, False] Translation: X:-8.02, Y:-0.27, Z:1.09 [[ 9.97518597e-01 -8.24973812e-04 -7.03986317e-02 -8.01712664e+00] [ 4.74330675e-05 9.99938992e-01 -1.10457845e-02 -2.70351837e-01] [ 7.04034493e-02 1.10150363e-02 9.97457780e-01 1.08577672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30255784399998 meters Centerline goodness : 0.243005 with order 3 Centerline is valid? [False, False] Translation: X:-8.02, Y:-0.27, Z:1.09 [[ 9.97471846e-01 -1.76107100e-03 -7.10409456e-02 -8.01529879e+00] [ 9.34879901e-04 9.99931567e-01 -1.16613609e-02 -2.69222713e-01] [ 7.10566206e-02 1.15654644e-02 9.97405232e-01 1.08540483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36255784399998 meters Centerline goodness : 0.102272 with order 1 Centerline is valid? [False, False] Translation: X:-8.04, Y:-0.26, Z:1.08 [[ 0.99733186 -0.01097096 -0.07217202 -8.03549393] [ 0.0102049 0.9998877 -0.01097456 -0.26379228] [ 0.07228431 0.01020877 0.99733182 1.08407107] [ 0. 0. 0. 1. ]] SLAMing on 195.42255784399998 meters Centerline goodness : 0.247100 with order 3 Centerline is valid? [False, False] Translation: X:-8.04, Y:-0.26, Z:1.09 [[ 0.9973645 -0.01093133 -0.07172554 -8.03751099] [ 0.0101773 0.99988913 -0.01086975 -0.26420513] [ 0.07183641 0.01011113 0.99736518 1.0853368 ] [ 0. 0. 0. 1. ]] SLAMing on 195.48255784399998 meters Centerline goodness : 0.236386 with order 3 Centerline is valid? [False, False] Translation: X:-8.04, Y:-0.26, Z:1.09 [[ 0.99739004 -0.01071293 -0.07140267 -8.0384916 ] [ 0.00996381 0.99989161 -0.01083939 -0.26386462] [ 0.07151105 0.01009966 0.99738867 1.08568209] [ 0. 0. 0. 1. ]] SLAMing on 195.542557844 meters Centerline goodness : 0.244352 with order 3 Centerline is valid? [False, False] Translation: X:-8.04, Y:-0.26, Z:1.09 [[ 0.99741465 -0.01036986 -0.07110891 -8.039714 ] [ 0.00963298 0.99989638 -0.0106978 -0.26373939] [ 0.07121248 0.00998515 0.99741119 1.08640193] [ 0. 0. 0. 1. ]] SLAMing on 195.602557844 meters Centerline goodness : 0.253553 with order 3 Centerline is valid? [False, False] Translation: X:-8.04, Y:-0.27, Z:1.09 [[ 9.97461663e-01 -6.12627514e-03 -7.09415288e-02 -8.04133283e+00] [ 5.67668353e-03 9.99962518e-01 -6.53737420e-03 -2.65200884e-01] [ 7.09789195e-02 6.11806753e-03 9.97459053e-01 1.08767718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662557844 meters Centerline goodness : 0.103853 with order 1 Centerline is valid? [False, False] Translation: X:-8.06, Y:-0.27, Z:1.09 [[ 9.97549852e-01 1.87362253e-03 -6.99341223e-02 -8.06416468e+00] [-2.39452873e-03 9.99970008e-01 -7.36543805e-03 -2.67916729e-01] [ 6.99182248e-02 7.51485090e-03 9.97524420e-01 1.08581620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722557844 meters Centerline goodness : 0.114746 with order 1 Centerline is valid? [False, False] Translation: X:-8.06, Y:-0.27, Z:1.09 [[ 9.97553719e-01 1.59428926e-03 -6.98858791e-02 -8.06437233e+00] [-2.15050310e-03 9.99966605e-01 -7.88437317e-03 -2.65520803e-01] [ 6.98709754e-02 8.01537558e-03 9.97523835e-01 1.08595284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782557844 meters Centerline goodness : 0.240450 with order 3 Centerline is valid? [False, False] Translation: X:-8.06, Y:-0.26, Z:1.09 [[ 9.97530117e-01 1.10283820e-03 -7.02314018e-02 -8.06350674e+00] [-1.70052272e-03 9.99962844e-01 -8.45099756e-03 -2.63073108e-01] [ 7.02194722e-02 8.54955467e-03 9.97494928e-01 1.08596405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842557844 meters Centerline goodness : 0.238359 with order 3 Centerline is valid? [False, False] Translation: X:-8.06, Y:-0.26, Z:1.08 [[ 9.97466540e-01 -2.09433483e-04 -7.11368883e-02 -8.06017709e+00] [-4.41368835e-04 9.99958198e-01 -9.13274939e-03 -2.63397982e-01] [ 7.11358274e-02 9.14100954e-03 9.97424752e-01 1.08444151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902557844 meters Centerline goodness : 0.242454 with order 3 Centerline is valid? [False, False] Translation: X:-8.06, Y:-0.26, Z:1.08 [[ 9.97448923e-01 -2.55233067e-04 -7.13833418e-02 -8.05896706e+00] [-4.00797396e-04 9.99957821e-01 -9.17577148e-03 -2.62884087e-01] [ 7.13826729e-02 9.18097364e-03 9.97406749e-01 1.08359180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96255784399997 meters Centerline goodness : 0.253899 with order 3 Centerline is valid? [False, False] Translation: X:-8.06, Y:-0.26, Z:1.09 [[ 9.97517468e-01 1.57590355e-03 -7.04018297e-02 -8.06355137e+00] [-2.14692226e-03 9.99965407e-01 -8.03591921e-03 -2.58083939e-01] [ 7.03867304e-02 8.16711704e-03 9.97486344e-01 1.08573155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02255784399998 meters Centerline goodness : 0.171594 with order 1 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.25, Z:1.09 [[ 9.97544630e-01 3.90258109e-03 -6.99248267e-02 -8.06656555e+00] [-4.35193107e-03 9.99970842e-01 -6.27499840e-03 -2.54466831e-01] [ 6.98982992e-02 6.56389898e-03 9.97532527e-01 1.08751498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08255784399998 meters Centerline goodness : 0.244283 with order 3 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.25, Z:1.08 [[ 9.97268167e-01 5.23780567e-03 -7.36801754e-02 -8.10752763e+00] [-5.65870422e-03 9.99968837e-01 -5.50491547e-03 -2.47580180e-01] [ 7.36490456e-02 5.90681128e-03 9.97266728e-01 1.08473016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14255784399998 meters Centerline goodness : 0.116479 with order 1 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.25, Z:1.09 [[ 9.97257241e-01 9.45446105e-03 -7.34071390e-02 -8.10884473e+00] [-9.61153679e-03 9.99952212e-01 -1.78682115e-03 -2.46123592e-01] [ 7.33867376e-02 2.48747575e-03 9.97300456e-01 1.08571321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20255784399998 meters Centerline goodness : 0.228879 with order 3 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.24, Z:1.09 [[ 9.97226053e-01 1.31685558e-02 -7.32583720e-02 -8.10932527e+00] [-1.31583778e-02 9.99913232e-01 6.21581059e-04 -2.38707187e-01] [ 7.32602009e-02 3.44104514e-04 9.97312802e-01 1.08635009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26255784399999 meters Centerline goodness : 0.133522 with order 2 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.23, Z:1.09 [[ 9.97167914e-01 1.66707500e-02 -7.33364683e-02 -8.10826810e+00] [-1.65135098e-02 9.99859861e-01 2.74995061e-03 -2.28322400e-01] [ 7.33720347e-02 -1.53112002e-03 9.97303464e-01 1.08570395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322557844 meters Centerline goodness : 0.178980 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:-0.21, Z:1.08 [[ 9.97465252e-01 1.08682654e-02 -7.03203539e-02 -8.12453921e+00] [-1.06702897e-02 9.99937981e-01 3.19037266e-03 -2.14734001e-01] [ 7.03506666e-02 -2.43194732e-03 9.97519358e-01 1.08186380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382557844 meters Centerline goodness : 0.176155 with order 1 Centerline is valid? [False, False] Translation: X:-8.15, Y:-0.20, Z:1.08 [[ 9.97686053e-01 3.30642038e-03 -6.79088219e-02 -8.14567819e+00] [-3.07617616e-03 9.99989162e-01 3.49478144e-03 -1.98967599e-01] [ 6.79196411e-02 -3.27779520e-03 9.97685411e-01 1.07840044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442557844 meters Centerline goodness : 0.151221 with order 2 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.19, Z:1.07 [[ 9.97711274e-01 -4.76577407e-03 -6.74499924e-02 -8.16389467e+00] [ 5.06259783e-03 9.99978237e-01 4.23040194e-03 -1.86771381e-01] [ 6.74283634e-02 -4.56219189e-03 9.97713687e-01 1.07458004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502557844 meters Centerline goodness : 0.121200 with order 2 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.18, Z:1.07 [[ 9.97652657e-01 -5.65926877e-03 -6.82433053e-02 -8.16188743e+00] [ 5.88488138e-03 9.99977862e-01 3.10541895e-03 -1.82287716e-01] [ 6.82242201e-02 -3.49973322e-03 9.97663875e-01 1.07449439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562557844 meters Centerline goodness : 0.162639 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.18, Z:1.07 [[ 9.97369823e-01 -8.10080985e-03 -7.20264747e-02 -8.20364802e+00] [ 8.22707175e-03 9.99965096e-01 1.45649217e-03 -1.75410202e-01] [ 7.20121620e-02 -2.04522832e-03 9.97401657e-01 1.07255999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622557844 meters Centerline goodness : 0.275169 with order 3 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.17, Z:1.07 [[ 9.97367765e-01 -8.31043974e-03 -7.20310914e-02 -8.20352680e+00] [ 8.40862631e-03 9.99964085e-01 1.05998065e-03 -1.73621145e-01] [ 7.20196955e-02 -1.66287306e-03 9.97401824e-01 1.07239923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682557844 meters Centerline goodness : 0.155932 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.17, Z:1.07 [[ 9.97408320e-01 1.49810984e-04 -7.19487337e-02 -8.18148980e+00] [-1.73178913e-04 9.99999934e-01 -3.18547860e-04 -1.72158958e-01] [ 7.19486812e-02 3.30182290e-04 9.97408281e-01 1.07395924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74255784399998 meters Centerline goodness : 0.150595 with order 3 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.17, Z:1.07 [[ 9.97337396e-01 3.86546332e-05 -7.29254219e-02 -8.17851457e+00] [-1.09738680e-04 9.99999523e-01 -9.70743434e-04 -1.68387669e-01] [ 7.29253496e-02 9.76161468e-04 9.97336924e-01 1.07338150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80255784399998 meters Centerline goodness : 0.102669 with order 2 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.16, Z:1.08 [[ 9.97462738e-01 1.90098973e-03 -7.11651102e-02 -8.18642508e+00] [-1.88901939e-03 9.99998188e-01 2.35506364e-04 -1.64329680e-01] [ 7.11654290e-02 -1.00476549e-04 9.97464521e-01 1.07705211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86255784399998 meters Centerline goodness : 0.120777 with order 2 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.16, Z:1.08 [[ 9.97536486e-01 -6.86689067e-03 -6.98126435e-02 -8.20957310e+00] [ 6.89870325e-03 9.99976181e-01 2.14590060e-04 -1.57952379e-01] [ 6.98095071e-02 -6.95678125e-04 9.97560098e-01 1.07630202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92255784399998 meters Centerline goodness : 0.171043 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.16, Z:1.08 [[ 9.97508268e-01 -7.15566353e-03 -7.01858372e-02 -8.20832071e+00] [ 7.22620137e-03 9.99973609e-01 7.51162017e-04 -1.61811359e-01] [ 7.01786098e-02 -1.25646732e-03 9.97533651e-01 1.07557527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98255784399998 meters Centerline goodness : 0.126494 with order 2 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.16, Z:1.08 [[ 9.97531402e-01 -7.04005244e-03 -6.98680122e-02 -8.20937148e+00] [ 7.13735556e-03 9.99973875e-01 1.14312360e-03 -1.63812028e-01] [ 6.98581393e-02 -1.63897453e-03 9.97555589e-01 1.07583538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042557844 meters Centerline goodness : 0.106732 with order 2 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.17, Z:1.08 [[ 9.97558552e-01 -6.81562553e-03 -6.95016746e-02 -8.21089218e+00] [ 6.94534875e-03 9.99974560e-01 1.62499541e-03 -1.65865185e-01] [ 6.94888312e-02 -2.10374144e-03 9.97580511e-01 1.07671762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102557844 meters Centerline goodness : 0.110927 with order 2 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.17, Z:1.08 [[ 9.97493502e-01 -6.53650260e-03 -7.04555658e-02 -8.20815315e+00] [ 6.67150710e-03 9.99976332e-01 1.68101814e-03 -1.65318287e-01] [ 7.04429103e-02 -2.14684948e-03 9.97513502e-01 1.07626763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162557844 meters Centerline goodness : 0.100305 with order 2 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.17, Z:1.08 [[ 9.97658542e-01 1.11482701e-03 -6.83826819e-02 -8.19178142e+00] [-1.11108586e-03 9.99999378e-01 9.27431021e-05 -1.71938060e-01] [ 6.83827428e-02 -1.65469171e-05 9.97659160e-01 1.07952147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222557844 meters Centerline goodness : 0.172856 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.18, Z:1.08 [[ 9.97748114e-01 -1.39491549e-03 -6.70578452e-02 -8.19749069e+00] [ 1.30248872e-03 9.99998141e-01 -1.42201449e-03 -1.78155352e-01] [ 6.70597041e-02 1.33147019e-03 9.97748076e-01 1.08164699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282557844 meters Centerline goodness : 0.113352 with order 2 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.18, Z:1.08 [[ 9.97710971e-01 -1.67820489e-03 -6.76017921e-02 -8.19605175e+00] [ 1.61407553e-03 9.99998194e-01 -1.00324255e-03 -1.81592293e-01] [ 6.76033537e-02 8.91831696e-04 9.97711878e-01 1.08134066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342557844 meters Centerline goodness : 0.166236 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.18, Z:1.08 [[ 9.97709296e-01 -1.42184197e-03 -6.76323885e-02 -8.19635179e+00] [ 1.40296755e-03 9.99998963e-01 -3.26570325e-04 -1.84692247e-01] [ 6.76327827e-02 2.30936203e-04 9.97710255e-01 1.08176904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402557844 meters Centerline goodness : 0.105025 with order 2 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.19, Z:1.08 [[ 9.97671379e-01 -1.29376950e-03 -6.81919832e-02 -8.19439289e+00] [ 1.29374311e-03 9.99999162e-01 -4.45498253e-05 -1.86064507e-01] [ 6.81919837e-02 -4.37768229e-05 9.97672216e-01 1.08096934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46255784399997 meters Centerline goodness : 0.165852 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.18, Z:1.08 [[ 9.97611631e-01 -1.23531516e-03 -6.90616170e-02 -8.19202772e+00] [ 1.20405947e-03 9.99999153e-01 -4.94201827e-04 -1.83623515e-01] [ 6.90621690e-02 4.09867196e-04 9.97612274e-01 1.08084200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52255784399998 meters Centerline goodness : 0.103907 with order 2 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.18, Z:1.08 [[ 9.97622949e-01 2.79905923e-03 -6.88521325e-02 -8.19262830e+00] [-2.61716181e-03 9.99992844e-01 2.73191984e-03 -1.79472050e-01] [ 6.88592866e-02 -2.54522876e-03 9.97623135e-01 1.08104219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58255784399998 meters Centerline goodness : 0.170103 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.18, Z:1.08 [[ 9.97596334e-01 2.55269535e-03 -6.92462152e-02 -8.19112518e+00] [-2.40791156e-03 9.99994737e-01 2.17424407e-03 -1.76810579e-01] [ 6.92514010e-02 -2.00227915e-03 9.97597231e-01 1.08030328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64255784399998 meters Centerline goodness : 0.105452 with order 2 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.18, Z:1.08 [[ 9.97597378e-01 2.40344723e-03 -6.92365130e-02 -8.19098356e+00] [-2.26660598e-03 9.99995320e-01 2.05492440e-03 -1.76258954e-01] [ 6.92411279e-02 -1.89305530e-03 9.97598157e-01 1.07993887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70255784399998 meters Centerline goodness : 0.296703 with order 2 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.18, Z:1.08 [[ 9.97589605e-01 2.26670213e-03 -6.93530252e-02 -8.19008535e+00] [-2.14129528e-03 9.99995935e-01 1.88252784e-03 -1.75565946e-01] [ 6.93570105e-02 -1.72948490e-03 9.97590404e-01 1.07904320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76255784399999 meters Centerline goodness : 0.273591 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.17, Z:1.08 [[ 9.97565283e-01 2.19693602e-03 -6.97042257e-02 -8.18899083e+00] [-2.08681319e-03 9.99996457e-01 1.65263781e-03 -1.74104326e-01] [ 6.97076095e-02 -1.50315441e-03 9.97566333e-01 1.07878255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822557844 meters Centerline goodness : 0.106730 with order 2 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.17, Z:1.08 [[ 9.97546763e-01 2.24400379e-03 -6.99672820e-02 -8.18815166e+00] [-2.13367901e-03 9.99996360e-01 1.65150094e-03 -1.73719374e-01] [ 6.99707333e-02 -1.49816169e-03 9.97547920e-01 1.07856088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882557844 meters Centerline goodness : 0.164430 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.17, Z:1.08 [[ 9.97602758e-01 2.06774147e-03 -6.91698017e-02 -8.19104578e+00] [-1.97876581e-03 9.99997124e-01 1.35482949e-03 -1.73330692e-01] [ 6.91724043e-02 -1.21471080e-03 9.97603981e-01 1.07982822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942557844 meters Centerline goodness : 0.307999 with order 2 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.17, Z:1.08 [[ 9.97612145e-01 2.13457219e-03 -6.90322510e-02 -8.19192939e+00] [-2.06250912e-03 9.99997251e-01 1.11516245e-03 -1.71411884e-01] [ 6.90344417e-02 -9.70119958e-04 9.97613805e-01 1.08067263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002557844 meters Centerline goodness : 0.121797 with order 2 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.16, Z:1.08 [[ 9.97348061e-01 2.44506458e-03 -7.27383411e-02 -8.23507405e+00] [-2.38338898e-03 9.99996723e-01 9.34695339e-04 -1.64376287e-01] [ 7.27403881e-02 -7.58852824e-04 9.97350620e-01 1.07873641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062557844 meters Centerline goodness : 0.280969 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.16, Z:1.08 [[ 9.97342231e-01 6.44810777e-03 -7.25733836e-02 -8.23552660e+00] [-6.17649514e-03 9.99973059e-01 3.96639367e-03 -1.59002887e-01] [ 7.25970041e-02 -3.50760276e-03 9.97355188e-01 1.07900233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122557844 meters Centerline goodness : 0.168898 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.15, Z:1.08 [[ 9.97380146e-01 6.17565592e-03 -7.20743086e-02 -8.23724043e+00] [-5.96999172e-03 9.99977471e-01 3.06857712e-03 -1.54549048e-01] [ 7.20916354e-02 -2.63025487e-03 9.97394545e-01 1.07981224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182557844 meters Centerline goodness : 0.162859 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.15, Z:1.08 [[ 9.97388084e-01 5.61359564e-03 -7.20104011e-02 -8.23772528e+00] [-5.50122921e-03 9.99983322e-01 1.75865632e-03 -1.47284146e-01] [ 7.20190725e-02 -1.35791713e-03 9.97402331e-01 1.08040656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24255784399998 meters Centerline goodness : 0.121278 with order 2 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.14, Z:1.08 [[ 9.97511805e-01 -2.12625195e-03 -7.04675601e-02 -8.25671250e+00] [ 2.25876529e-03 9.99995827e-01 1.80085660e-03 -1.35241952e-01] [ 7.04634370e-02 -1.95554540e-03 9.97512446e-01 1.07739366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30255784399998 meters Centerline goodness : 0.163437 with order 1 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.13, Z:1.08 [[ 9.97559295e-01 3.18939930e-04 -6.98237111e-02 -8.25970268e+00] [-8.13727193e-05 9.99994199e-01 3.40520381e-03 -1.28052685e-01] [ 6.98243921e-02 -3.39121097e-03 9.97553534e-01 1.07866586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36255784399998 meters Centerline goodness : 0.108844 with order 2 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.12, Z:1.08 [[ 9.97545524e-01 3.67830233e-03 -6.99242253e-02 -8.25926100e+00] [-3.30650807e-03 9.99979779e-01 5.43210351e-03 -1.18017807e-01] [ 6.99427923e-02 -5.18756553e-03 9.97537516e-01 1.07865913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42255784399998 meters Centerline goodness : 0.160056 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.11, Z:1.08 [[ 9.97441478e-01 5.60070509e-03 -7.12680225e-02 -8.25329148e+00] [-5.15533396e-03 9.99966028e-01 6.43164882e-03 -1.08586420e-01] [ 7.13016231e-02 -6.04778284e-03 9.97436466e-01 1.07599632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48255784399998 meters Centerline goodness : 0.392989 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:-0.10, Z:1.07 [[ 9.97361970e-01 -7.91150446e-04 -7.25842582e-02 -8.27444520e+00] [ 1.44321834e-03 9.99959071e-01 8.93159253e-03 -1.00000746e-01] [ 7.25742212e-02 -9.01278566e-03 9.97322291e-01 1.07460510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542557844 meters Centerline goodness : 0.108506 with order 2 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.09, Z:1.08 [[ 9.97484252e-01 -3.13559784e-03 -7.08190247e-02 -8.28220565e+00] [ 3.58256090e-03 9.99974454e-01 6.18520714e-03 -9.35292647e-02] [ 7.07978212e-02 -6.42336019e-03 9.97470004e-01 1.07835769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602557844 meters Centerline goodness : 0.104476 with order 2 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.09, Z:1.08 [[ 9.97466056e-01 -3.25480164e-03 -7.10694930e-02 -8.28129808e+00] [ 3.69295989e-03 9.99974972e-01 6.03468443e-03 -9.26896792e-02] [ 7.10480726e-02 -6.28184967e-03 9.97453112e-01 1.07792572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662557844 meters Centerline goodness : 0.222355 with order 3 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.09, Z:1.08 [[ 9.97430529e-01 -3.32981811e-03 -7.15629228e-02 -8.27944770e+00] [ 3.76441190e-03 9.99975279e-01 5.93887920e-03 -9.18287960e-02] [ 7.15413784e-02 -6.19301174e-03 9.97418407e-01 1.07707451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722557844 meters Centerline goodness : 0.282232 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.09, Z:1.08 [[ 9.97462639e-01 -3.50053562e-03 -7.11057621e-02 -8.28169031e+00] [ 3.90476671e-03 9.99976993e-01 5.54672100e-03 -8.99599396e-02] [ 7.10847097e-02 -5.81029838e-03 9.97453360e-01 1.07873588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782557844 meters Centerline goodness : 0.158410 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.09, Z:1.08 [[ 9.97439535e-01 -3.46350400e-03 -7.14309358e-02 -8.27968674e+00] [ 3.86982306e-03 9.99977107e-01 5.55067351e-03 -8.94118426e-02] [ 7.14100758e-02 -5.81288628e-03 9.97430104e-01 1.07699732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842557844 meters Centerline goodness : 0.386131 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.09, Z:1.08 [[ 9.97428021e-01 -3.53907742e-03 -7.15878365e-02 -8.27906681e+00] [ 3.94347698e-03 9.99977053e-01 5.50845307e-03 -8.96006180e-02] [ 7.15666989e-02 -5.77659042e-03 9.97419089e-01 1.07662450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902557844 meters Centerline goodness : 0.166313 with order 3 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.09, Z:1.08 [[ 9.97422682e-01 -3.57521753e-03 -7.16603869e-02 -8.27916339e+00] [ 3.97263171e-03 9.99977507e-01 5.40404369e-03 -8.90838981e-02] [ 7.16394544e-02 -5.67479608e-03 9.97414450e-01 1.07706791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96255784399997 meters Centerline goodness : 0.278444 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.09, Z:1.08 [[ 9.97407113e-01 4.79914161e-04 -7.19640214e-02 -8.27857797e+00] [ 1.67282261e-04 9.99959602e-01 8.98703654e-03 -8.73216741e-02] [ 7.19654272e-02 -8.97577248e-03 9.97366739e-01 1.07725797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02255784399998 meters Centerline goodness : 0.246605 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.08, Z:1.08 [[ 9.97423724e-01 2.09156869e-04 -7.17347329e-02 -8.27899723e+00] [ 3.91861501e-04 9.99964943e-01 8.36416989e-03 -8.44432535e-02] [ 7.17339676e-02 -8.37073156e-03 9.97388675e-01 1.07700298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08255784399998 meters Centerline goodness : 0.129475 with order 3 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.08, Z:1.08 [[ 9.97398720e-01 9.61124535e-05 -7.20817918e-02 -8.27761139e+00] [ 4.99681002e-04 9.99965864e-01 8.24744155e-03 -8.39393019e-02] [ 7.20801240e-02 -8.26200554e-03 9.97364625e-01 1.07622461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14255784399998 meters Centerline goodness : 0.216019 with order 3 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.08, Z:1.08 [[ 9.97370386e-01 -4.31369467e-05 -7.24728368e-02 -8.27642825e+00] [ 6.42731928e-04 9.99965761e-01 8.25007476e-03 -8.44080088e-02] [ 7.24699995e-02 -8.27496085e-03 9.97336264e-01 1.07583903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20255784399998 meters Centerline goodness : 0.131393 with order 3 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.08, Z:1.08 [[ 9.97372632e-01 -3.69232471e-05 -7.24419225e-02 -8.27676014e+00] [ 6.44470568e-04 9.99964819e-01 8.36332523e-03 -8.49495261e-02] [ 7.24390651e-02 -8.38803838e-03 9.97337567e-01 1.07616831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26255784399999 meters Centerline goodness : 0.164096 with order 3 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.09, Z:1.08 [[ 9.97456957e-01 -2.58645869e-04 -7.12709781e-02 -8.28125067e+00] [ 8.59694474e-04 9.99964327e-01 8.40274130e-03 -8.63008610e-02] [ 7.12662623e-02 -8.44264403e-03 9.97421597e-01 1.07824726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322557844 meters Centerline goodness : 0.373941 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.08, Z:1.08 [[ 9.97234452e-01 1.45878405e-03 -7.43055820e-02 -8.32796391e+00] [-7.87004483e-04 9.99958564e-01 9.06924621e-03 -8.39335138e-02] [ 7.43157331e-02 -8.98568595e-03 9.97194279e-01 1.07764849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382557844 meters Centerline goodness : 0.171323 with order 3 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.08, Z:1.08 [[ 9.97135813e-01 1.92339821e-03 -7.56073509e-02 -8.32466425e+00] [-1.22667535e-03 9.99956369e-01 9.26037430e-03 -8.34120094e-02] [ 7.56218635e-02 -9.14110518e-03 9.97094666e-01 1.07764081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442557844 meters Centerline goodness : 0.160481 with order 3 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.08, Z:1.08 [[ 9.97166983e-01 1.16635957e-02 -7.43099490e-02 -8.30440671e+00] [-1.10260594e-02 9.99898853e-01 8.98390518e-03 -8.18700176e-02] [ 7.44072174e-02 -8.13910771e-03 9.97194726e-01 1.07985740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502557844 meters Centerline goodness : 0.187128 with order 3 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.07, Z:1.08 [[ 9.97474312e-01 7.11056661e-03 -7.06713279e-02 -8.32793348e+00] [-6.35942398e-03 9.99920936e-01 1.08479971e-02 -7.25396809e-02] [ 7.07428758e-02 -1.03711695e-02 9.97440667e-01 1.07882892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562557844 meters Centerline goodness : 0.147582 with order 3 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.07, Z:1.08 [[ 9.97520686e-01 6.71295920e-03 -7.00529654e-02 -8.32984416e+00] [-6.00296630e-03 9.99928515e-01 1.03406938e-02 -7.06248240e-02] [ 7.01173742e-02 -9.89453041e-03 9.97489675e-01 1.07919975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622557844 meters Centerline goodness : 0.132606 with order 3 Centerline is valid? [False, False] Translation: X:-8.37, Y:-0.06, Z:1.08 [[ 9.97309533e-01 6.31080154e-03 -7.30333383e-02 -8.37436473e+00] [-5.60625468e-03 9.99935792e-01 9.84790131e-03 -6.48629288e-02] [ 7.30907972e-02 -9.41196236e-03 9.97280878e-01 1.07697803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682557844 meters Centerline goodness : 0.208605 with order 3 Centerline is valid? [False, False] Translation: X:-8.38, Y:-0.06, Z:1.08 [[ 9.97326593e-01 5.90485781e-03 -7.28340510e-02 -8.37599187e+00] [-5.25914574e-03 9.99945181e-01 9.05411949e-03 -6.10927845e-02] [ 7.28835216e-02 -8.64686925e-03 9.97302975e-01 1.07874013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74255784399998 meters Centerline goodness : 0.200357 with order 3 Centerline is valid? [False, False] Translation: X:-8.37, Y:-0.05, Z:1.08 [[ 9.97249325e-01 5.76013901e-03 -7.38958979e-02 -8.37238894e+00] [-5.17055662e-03 9.99953279e-01 8.16737884e-03 -5.44631035e-02] [ 7.39394907e-02 -7.76283011e-03 9.97232516e-01 1.07778318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80255784399998 meters Centerline goodness : 0.135039 with order 3 Centerline is valid? [False, False] Translation: X:-8.37, Y:-0.05, Z:1.08 [[ 9.97247203e-01 5.36219662e-03 -7.39544720e-02 -8.37221833e+00] [-4.83890204e-03 9.99961987e-01 7.25326338e-03 -5.02716890e-02] [ 7.39905542e-02 -6.87543817e-03 9.97235241e-01 1.07780038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86255784399998 meters Centerline goodness : 0.145215 with order 3 Centerline is valid? [False, False] Translation: X:-8.39, Y:-0.04, Z:1.07 [[ 9.96963155e-01 -1.14724431e-03 -7.78662368e-02 -8.38637055e+00] [ 1.89715185e-03 9.99952527e-01 9.55742410e-03 -3.92989523e-02] [ 7.78515756e-02 -9.67612376e-03 9.96918003e-01 1.07452069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92255784399998 meters Centerline goodness : 0.147974 with order 3 Centerline is valid? [False, False] Translation: X:-8.39, Y:-0.04, Z:1.07 [[ 9.96940969e-01 -1.50040931e-03 -7.81437999e-02 -8.38551442e+00] [ 2.21774345e-03 9.99956192e-01 9.09369297e-03 -3.80657111e-02] [ 7.81267323e-02 -9.23917798e-03 9.96900623e-01 1.07424573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98255784399998 meters Centerline goodness : 0.168005 with order 3 Centerline is valid? [False, False] Translation: X:-8.39, Y:-0.03, Z:1.08 [[ 9.97060028e-01 1.22953686e-03 -7.66145426e-02 -8.39132787e+00] [-3.55195172e-04 9.99934672e-01 1.14247974e-02 -3.40931309e-02] [ 7.66235847e-02 -1.13639957e-02 9.96995329e-01 1.07612789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042557844 meters Centerline goodness : 0.147563 with order 3 Centerline is valid? [False, False] Translation: X:-8.39, Y:-0.03, Z:1.08 [[ 9.97034510e-01 1.05651693e-03 -7.69484885e-02 -8.39038930e+00] [-2.28695476e-04 9.99942017e-01 1.07661425e-02 -3.10194034e-02] [ 7.69554014e-02 -1.07166178e-02 9.96976941e-01 1.07613861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102557844 meters Centerline goodness : 0.186435 with order 3 Centerline is valid? [False, False] Translation: X:-8.44, Y:-0.02, Z:1.08 [[ 9.96952652e-01 4.87925520e-03 -7.78562939e-02 -8.44091929e+00] [-3.89913859e-03 9.99911294e-01 1.27358467e-02 -2.32608641e-02] [ 7.79115290e-02 -1.23934637e-02 9.96883241e-01 1.07670763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162557844 meters Centerline goodness : 0.144902 with order 3 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.02, Z:1.08 [[ 0.99699105 0.01342849 -0.07634481 -8.41955778] [-0.01254623 0.99984899 0.01202416 -0.02395527] [ 0.07649475 -0.01103014 0.99700897 1.07851022] [ 0. 0. 0. 1. ]] SLAMing on 200.222557844 meters Centerline goodness : 0.141549 with order 3 Centerline is valid? [False, False] Translation: X:-8.44, Y:-0.01, Z:1.08 [[ 9.97112826e-01 4.77328222e-03 -7.57840893e-02 -8.44070671e+00] [-3.91697412e-03 9.99926844e-01 1.14439310e-02 -1.38287669e-02] [ 7.58331704e-02 -1.11140461e-02 9.97058578e-01 1.07620523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282557844 meters Centerline goodness : 0.140484 with order 3 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.01, Z:1.08 [[ 9.97249306e-01 -4.07662782e-03 -7.40081230e-02 -8.42328998e+00] [ 5.02437682e-03 9.99907686e-01 1.26243549e-02 -1.01535504e-02] [ 7.39498263e-02 -1.29614738e-02 9.97177729e-01 1.08045138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342557844 meters Centerline goodness : 0.155002 with order 3 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.01, Z:1.08 [[ 9.97220718e-01 -4.25479052e-03 -7.43823673e-02 -8.42204447e+00] [ 5.19513598e-03 9.99908961e-01 1.24531403e-02 -9.52659353e-03] [ 7.43226101e-02 -1.28049560e-02 9.97152036e-01 1.07998023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402557844 meters Centerline goodness : 0.140308 with order 3 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.01, Z:1.08 [[ 9.97254172e-01 -4.52012055e-03 -7.39167394e-02 -8.42332100e+00] [ 5.42259257e-03 9.99913136e-01 1.20131808e-02 -7.31988655e-03] [ 7.38560176e-02 -1.23810150e-02 9.97192057e-01 1.08011924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46255784399997 meters Centerline goodness : 0.129365 with order 2 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.01, Z:1.08 [[ 9.97261678e-01 -4.70644713e-03 -7.38037624e-02 -8.42386311e+00] [ 5.59449625e-03 9.99914367e-01 1.18304621e-02 -6.93565873e-03] [ 7.37417630e-02 -1.22109613e-02 9.97202610e-01 1.08046661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52255784399998 meters Centerline goodness : 0.153814 with order 3 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.01, Z:1.08 [[ 9.97236106e-01 -4.93201713e-03 -7.41338302e-02 -8.42211687e+00] [ 5.79896447e-03 9.99917245e-01 1.14836609e-02 -5.44455537e-03] [ 7.40710576e-02 -1.18818207e-02 9.97182180e-01 1.07908822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58255784399998 meters Centerline goodness : 0.145995 with order 2 Centerline is valid? [False, False] Translation: X:-8.42, Y:-0.01, Z:1.08 [[ 9.97230466e-01 -4.91507575e-03 -7.42107806e-02 -8.42219133e+00] [ 5.78180611e-03 9.99917513e-01 1.14689925e-02 -5.12577636e-03] [ 7.41482882e-02 -1.18663010e-02 9.97176625e-01 1.07951432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64255784399998 meters Centerline goodness : 0.124428 with order 3 Centerline is valid? [False, False] Translation: X:-8.45, Y:-0.01, Z:1.08 [[ 9.97180342e-01 1.56029061e-03 -7.50262048e-02 -8.44618454e+00] [-9.27733689e-04 9.99963739e-01 8.46525877e-03 -7.28247492e-03] [ 7.50366925e-02 -8.37178530e-03 9.97145630e-01 1.07934699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70255784399998 meters Centerline goodness : 0.125255 with order 3 Centerline is valid? [False, False] Translation: X:-8.45, Y:-0.01, Z:1.08 [[ 9.97201740e-01 1.68329499e-03 -7.47385842e-02 -8.44651819e+00] [-1.02851925e-03 9.99960763e-01 8.79850433e-03 -9.05483373e-03] [ 7.47504621e-02 -8.69701375e-03 9.97164345e-01 1.07866329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76255784399999 meters Centerline goodness : 0.151592 with order 3 Centerline is valid? [False, False] Translation: X:-8.45, Y:-0.01, Z:1.08 [[ 9.97188827e-01 1.73165369e-03 -7.49095830e-02 -8.44616806e+00] [-1.06818686e-03 9.99959859e-01 8.89606044e-03 -9.40513872e-03] [ 7.49219810e-02 -8.79103464e-03 9.97150648e-01 1.07875532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822557844 meters Centerline goodness : 0.129413 with order 2 Centerline is valid? [False, False] Translation: X:-8.44, Y:-0.01, Z:1.08 [[ 9.97137903e-01 2.03094599e-03 -7.55769611e-02 -8.44424020e+00] [-1.33042107e-03 9.99955699e-01 9.31821989e-03 -1.09773024e-02] [ 7.55925378e-02 -9.19100107e-03 9.97096432e-01 1.07846605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882557844 meters Centerline goodness : 0.129773 with order 3 Centerline is valid? [False, False] Translation: X:-8.49, Y:-0.01, Z:1.08 [[ 9.97067727e-01 2.78442534e-03 -7.64734897e-02 -8.49320356e+00] [-2.10363918e-03 9.99957454e-01 8.98136257e-03 -8.85354893e-03] [ 7.64952440e-02 -8.79415414e-03 9.97031163e-01 1.07731742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942557844 meters Centerline goodness : 0.163119 with order 3 Centerline is valid? [False, False] Translation: X:-8.49, Y:-0.01, Z:1.08 [[ 9.97106240e-01 2.96357668e-03 -7.59629018e-02 -8.49460032e+00] [-2.23489306e-03 9.99950690e-01 9.67583791e-03 -1.30872087e-02] [ 7.59878312e-02 -9.47806940e-03 9.97063697e-01 1.07727647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002557844 meters Centerline goodness : 0.128488 with order 3 Centerline is valid? [False, False] Translation: X:-8.49, Y:-0.01, Z:1.08 [[ 9.97077007e-01 3.19698309e-03 -7.63362412e-02 -8.49343126e+00] [-2.42892616e-03 9.99945515e-01 1.01522222e-02 -1.49969007e-02] [ 7.63645385e-02 -9.93713225e-03 9.97030446e-01 1.07686643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062557844 meters Centerline goodness : 0.214777 with order 3 Centerline is valid? [False, False] Translation: X:-8.47, Y:-0.02, Z:1.08 [[ 9.97320664e-01 -5.27032823e-03 -7.29638041e-02 -8.47332962e+00] [ 6.09652401e-03 9.99919749e-01 1.11052885e-02 -1.93712831e-02] [ 7.28994202e-02 -1.15203593e-02 9.97272759e-01 1.07847912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122557844 meters Centerline goodness : 0.227202 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.03, Z:1.08 [[ 9.97431408e-01 3.11458362e-03 -7.15603589e-02 -8.49540694e+00] [-2.36129859e-03 9.99940938e-01 1.06087545e-02 -2.55985239e-02] [ 7.15891742e-02 -1.04125296e-02 9.97379852e-01 1.07608828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18255784399997 meters Centerline goodness : 0.178533 with order 3 Centerline is valid? [False, False] Translation: X:-8.49, Y:-0.03, Z:1.08 [[ 9.97402523e-01 3.41598076e-03 -7.19481574e-02 -8.49389648e+00] [-2.62017693e-03 9.99934379e-01 1.11522734e-02 -2.76372424e-02] [ 7.19815320e-02 -1.09347888e-02 9.97346023e-01 1.07528914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24255784399998 meters Centerline goodness : 0.189796 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.03, Z:1.08 [[ 9.97416353e-01 3.36537413e-03 -7.17585753e-02 -8.49504006e+00] [-2.58463220e-03 9.99936485e-01 1.09702005e-02 -2.69165220e-02] [ 7.17909364e-02 -1.07563878e-02 9.97361700e-01 1.07630325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30255784399998 meters Centerline goodness : 0.231711 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.03, Z:1.08 [[ 9.97419903e-01 7.61546798e-03 -7.13830588e-02 -8.49567278e+00] [-6.58104403e-03 9.99870068e-01 1.47151749e-02 -2.51261411e-02] [ 7.14858468e-02 -1.42074333e-02 9.97340425e-01 1.07596909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36255784399998 meters Centerline goodness : 0.157771 with order 3 Centerline is valid? [False, False] Translation: X:-8.49, Y:-0.02, Z:1.08 [[ 9.97399122e-01 7.39097366e-03 -7.16963316e-02 -8.49470498e+00] [-6.39187399e-03 9.99879388e-01 1.41545975e-02 -2.26093298e-02] [ 7.17923004e-02 -1.36595092e-02 9.97326067e-01 1.07565806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42255784399998 meters Centerline goodness : 0.238219 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.02, Z:1.08 [[ 9.97404833e-01 7.43438966e-03 -7.16123575e-02 -8.49527576e+00] [-6.42927697e-03 9.99877711e-01 1.42557602e-02 -2.28450644e-02] [ 7.17095830e-02 -1.37583485e-02 9.97330659e-01 1.07615456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48255784399998 meters Centerline goodness : 0.129901 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.02, Z:1.08 [[ 9.97446709e-01 3.12041473e-03 -7.13465116e-02 -8.49683856e+00] [-2.38577911e-03 9.99943284e-01 1.03796277e-02 -2.39387941e-02] [ 7.13748539e-02 -1.01829085e-02 9.97397583e-01 1.07729693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542557844 meters Centerline goodness : 0.128188 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.03, Z:1.08 [[ 9.97418247e-01 3.31093800e-03 -7.17347747e-02 -8.49550280e+00] [-2.52259239e-03 9.99935460e-01 1.10775372e-02 -2.74793922e-02] [ 7.17668220e-02 -1.08679802e-02 9.97362226e-01 1.07661634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602557844 meters Centerline goodness : 0.218750 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.03, Z:1.08 [[ 9.97417986e-01 3.51346952e-03 -7.17287736e-02 -8.49603679e+00] [-2.69935197e-03 9.99930875e-01 1.14437263e-02 -2.90939539e-02] [ 7.17640225e-02 -1.12205573e-02 9.97358523e-01 1.07741929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662557844 meters Centerline goodness : 0.212261 with order 3 Centerline is valid? [False, False] Translation: X:-8.48, Y:-0.03, Z:1.08 [[ 0.99734674 0.01104701 -0.07195448 -8.47715172] [-0.01034163 0.99989482 0.0101684 -0.03376968] [ 0.07205924 -0.00939729 0.99735608 1.08076668] [ 0. 0. 0. 1. ]] SLAMing on 201.722557844 meters Centerline goodness : 0.131926 with order 3 Centerline is valid? [False, False] Translation: X:-8.52, Y:-0.03, Z:1.08 [[ 9.97118418e-01 1.06219912e-02 -7.51134711e-02 -8.52048608e+00] [-9.95615244e-03 9.99907806e-01 9.23334932e-03 -3.00016533e-02] [ 7.52046227e-02 -8.45890150e-03 9.97132244e-01 1.07783615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782557844 meters Centerline goodness : 0.231462 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.03, Z:1.08 [[ 9.97251204e-01 1.27162201e-03 -7.40838691e-02 -8.50007369e+00] [-5.22807549e-04 9.99948592e-01 1.01261744e-02 -3.14746391e-02] [ 7.40929373e-02 -1.00596080e-02 9.97200602e-01 1.08011328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842557844 meters Centerline goodness : 0.127245 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.04, Z:1.08 [[ 9.97237086e-01 -2.58994390e-03 -7.42393909e-02 -8.49884919e+00] [ 3.12581624e-03 9.99969889e-01 7.10288645e-03 -3.59396372e-02] [ 7.42187594e-02 -7.31532048e-03 9.97215153e-01 1.07906028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902557844 meters Centerline goodness : 0.130135 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.04, Z:1.08 [[ 9.97218443e-01 -2.25335593e-03 -7.45003327e-02 -8.49778725e+00] [ 2.83373395e-03 9.99966451e-01 7.68548818e-03 -3.81079805e-02] [ 7.44805151e-02 -7.87522468e-03 9.97191373e-01 1.07843862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96255784399997 meters Centerline goodness : 0.178146 with order 3 Centerline is valid? [False, False] Translation: X:-8.50, Y:-0.04, Z:1.08 [[ 9.97219856e-01 -1.41331340e-03 -7.45020961e-02 -8.49785136e+00] [ 2.03050369e-03 9.99964243e-01 8.20910780e-03 -3.90919052e-02] [ 7.44878301e-02 -8.33756208e-03 9.97187068e-01 1.07869831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02255784399998 meters Centerline goodness : 0.390799 with order 1 Centerline is valid? [False, False] Translation: X:-8.53, Y:-0.04, Z:1.08 [[ 9.97386625e-01 6.62143091e-03 -7.19449588e-02 -8.52734142e+00] [-6.14359266e-03 9.99957591e-01 6.86098045e-03 -4.17715225e-02] [ 7.19873372e-02 -6.40104961e-03 9.97385006e-01 1.07945930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08255784399998 meters Centerline goodness : 0.262633 with order 1 Centerline is valid? [False, False] Translation: X:-8.53, Y:-0.05, Z:1.08 [[ 9.97382830e-01 7.00643491e-03 -7.19611089e-02 -8.52709035e+00] [-6.46576933e-03 9.99949115e-01 7.74350325e-03 -4.58215237e-02] [ 7.20117015e-02 -7.25795325e-03 9.97377379e-01 1.07896029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14255784399998 meters Centerline goodness : 0.136986 with order 2 Centerline is valid? [False, False] Translation: X:-8.52, Y:-0.05, Z:1.08 [[ 9.97321976e-01 7.11072233e-03 -7.27895226e-02 -8.52390165e+00] [-6.53741572e-03 9.99945732e-01 8.11144317e-03 -4.78904087e-02] [ 7.28432507e-02 -7.61386516e-03 9.97314339e-01 1.07733739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20255784399998 meters Centerline goodness : 0.202142 with order 1 Centerline is valid? [False, False] Translation: X:-8.53, Y:-0.05, Z:1.08 [[ 9.97364970e-01 7.49907964e-03 -7.21587136e-02 -8.52602411e+00] [-6.93786263e-03 9.99943731e-01 8.02503941e-03 -4.61556857e-02] [ 7.22148337e-02 -7.50326595e-03 9.97360877e-01 1.07818879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26255784399999 meters Centerline goodness : 0.191997 with order 3 Centerline is valid? [False, False] Translation: X:-8.53, Y:-0.04, Z:1.08 [[ 9.97389596e-01 7.53136072e-03 -7.18141462e-02 -8.52662602e+00] [-7.01866725e-03 9.99948070e-01 7.38884964e-03 -4.19251619e-02] [ 7.18660650e-02 -6.86552216e-03 9.97390662e-01 1.07786750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322557844 meters Centerline goodness : 0.265479 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.03, Z:1.07 [[ 9.97445993e-01 2.57856301e-04 -7.14242603e-02 -8.54423912e+00] [ 3.69280745e-04 9.99961500e-01 8.76710476e-03 -3.46078415e-02] [ 7.14237711e-02 -8.77108912e-03 9.97407496e-01 1.07376166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382557844 meters Centerline goodness : 0.164159 with order 3 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.03, Z:1.07 [[ 9.97398567e-01 -1.62258446e-04 -7.20837927e-02 -8.54226028e+00] [ 7.69774899e-04 9.99964421e-01 8.40021986e-03 -3.39039183e-02] [ 7.20798651e-02 -8.43385554e-03 9.97363205e-01 1.07319416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442557844 meters Centerline goodness : 0.186246 with order 3 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.03, Z:1.07 [[ 9.97368278e-01 3.46582534e-03 -7.24189643e-02 -8.54124213e+00] [-2.60916659e-03 9.99925545e-01 1.19204590e-02 -3.27177494e-02] [ 7.24548866e-02 -1.17001346e-02 9.97303061e-01 1.07288011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502557844 meters Centerline goodness : 0.161593 with order 3 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.03, Z:1.07 [[ 9.97388974e-01 3.25238678e-03 -7.21433049e-02 -8.54218318e+00] [-2.43067202e-03 9.99931207e-01 1.14749050e-02 -3.05945460e-02] [ 7.21756628e-02 -1.12695870e-02 9.97328266e-01 1.07322560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562557844 meters Centerline goodness : 0.192578 with order 3 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.03, Z:1.07 [[ 9.97423917e-01 3.15487694e-03 -7.16629362e-02 -8.54364119e+00] [-2.34571790e-03 9.99932579e-01 1.13725329e-02 -3.02676705e-02] [ 7.16939835e-02 -1.11751353e-02 9.97364070e-01 1.07353195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622557844 meters Centerline goodness : 0.132408 with order 3 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.03, Z:1.07 [[ 9.97433218e-01 3.12669668e-03 -7.15345981e-02 -8.54422678e+00] [-2.31884390e-03 9.99932632e-01 1.13734351e-02 -3.01596917e-02] [ 7.15653403e-02 -1.11783644e-02 9.97373273e-01 1.07388321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68255784399997 meters Centerline goodness : 0.133071 with order 3 Centerline is valid? [False, False] Translation: X:-8.54, Y:-0.03, Z:1.07 [[ 9.97427718e-01 3.09505681e-03 -7.16126280e-02 -8.54396481e+00] [-2.29004642e-03 9.99933298e-01 1.13205535e-02 -2.99496133e-02] [ 7.16428891e-02 -1.11274376e-02 9.97368275e-01 1.07379758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74255784399998 meters Centerline goodness : 0.133647 with order 3 Centerline is valid? [False, False] Translation: X:-8.55, Y:-0.03, Z:1.07 [[ 9.97456414e-01 3.01650091e-03 -7.12151922e-02 -8.54536305e+00] [-2.25540808e-03 9.99939510e-01 1.07652197e-02 -2.72077936e-02] [ 7.12433576e-02 -1.05772181e-02 9.97402881e-01 1.07449534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80255784399998 meters Centerline goodness : 0.185361 with order 3 Centerline is valid? [False, False] Translation: X:-8.55, Y:-0.02, Z:1.07 [[ 9.97457239e-01 3.18282818e-03 -7.11963964e-02 -8.54553422e+00] [-2.44519765e-03 9.99942457e-01 1.04452609e-02 -2.47297030e-02] [ 7.12255450e-02 -1.02446118e-02 9.97407625e-01 1.07479289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86255784399998 meters Centerline goodness : 0.135211 with order 3 Centerline is valid? [False, False] Translation: X:-8.59, Y:-0.02, Z:1.07 [[ 9.97237937e-01 4.00193792e-03 -7.41652355e-02 -8.59019374e+00] [-3.23880506e-03 9.99940600e-01 1.04070449e-02 -2.06290052e-02] [ 7.42024784e-02 -1.01380933e-02 9.97191662e-01 1.07267139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92255784399998 meters Centerline goodness : 0.133377 with order 3 Centerline is valid? [False, False] Translation: X:-8.59, Y:-0.02, Z:1.07 [[ 9.97233701e-01 3.63846288e-03 -7.42408730e-02 -8.59014508e+00] [-2.86831493e-03 9.99940994e-01 1.04776230e-02 -2.22049443e-02] [ 7.42746148e-02 -1.02356926e-02 9.97185295e-01 1.07269442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98255784399998 meters Centerline goodness : 0.174215 with order 3 Centerline is valid? [False, False] Translation: X:-8.59, Y:-0.02, Z:1.07 [[ 9.97232014e-01 3.52780097e-03 -7.42688694e-02 -8.58968646e+00] [-2.73727093e-03 9.99938543e-01 1.07432624e-02 -2.42845303e-02] [ 7.43022051e-02 -1.05102312e-02 9.97180384e-01 1.07198862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042557844 meters Centerline goodness : 0.176726 with order 3 Centerline is valid? [False, False] Translation: X:-8.59, Y:-0.03, Z:1.07 [[ 9.97253819e-01 3.59252080e-03 -7.39723945e-02 -8.59039106e+00] [-2.78433934e-03 9.99935339e-01 1.10256733e-02 -2.57224621e-02] [ 7.40072214e-02 -1.07894306e-02 9.97199338e-01 1.07184220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102557844 meters Centerline goodness : 0.158339 with order 3 Centerline is valid? [False, False] Translation: X:-8.59, Y:-0.03, Z:1.07 [[ 9.97281121e-01 3.64762409e-03 -7.36006879e-02 -8.59157969e+00] [-2.81449855e-03 9.99930828e-01 1.14200768e-02 -2.83465792e-02] [ 7.36372529e-02 -1.11818780e-02 9.97222403e-01 1.07206118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162557844 meters Centerline goodness : 0.130999 with order 3 Centerline is valid? [False, False] Translation: X:-8.63, Y:-0.03, Z:1.07 [[ 9.97011041e-01 4.18074582e-03 -7.71460047e-02 -8.63485619e+00] [-3.28499460e-03 9.99925754e-01 1.17343670e-02 -2.90837648e-02] [ 7.71893353e-02 -1.14458693e-02 9.96950750e-01 1.06930196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222557844 meters Centerline goodness : 0.129695 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.03, Z:1.07 [[ 9.97031873e-01 4.33341520e-03 -7.68678511e-02 -8.63632099e+00] [-3.41238738e-03 9.99920858e-01 1.21092661e-02 -3.12480245e-02] [ 7.69142421e-02 -1.18110213e-02 9.96967752e-01 1.07028564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282557844 meters Centerline goodness : 0.130760 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.03, Z:1.07 [[ 9.97008484e-01 4.71029637e-03 -7.71485327e-02 -8.63583593e+00] [-3.72666949e-03 9.99909991e-01 1.28887909e-02 -3.46491826e-02] [ 7.72022987e-02 -1.25627268e-02 9.96936298e-01 1.07053471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342557844 meters Centerline goodness : 0.131565 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.04, Z:1.07 [[ 9.97019014e-01 4.98367949e-03 -7.69951192e-02 -8.63590075e+00] [-3.95876865e-03 9.99901597e-01 1.34582746e-02 -3.71824050e-02] [ 7.70546144e-02 -1.31133498e-02 9.96940633e-01 1.06996677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402557844 meters Centerline goodness : 0.187356 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.04, Z:1.07 [[ 9.97148748e-01 2.95972425e-03 -7.54030162e-02 -8.64312083e+00] [-2.08345240e-03 9.99929415e-01 1.16971897e-02 -3.97020230e-02] [ 7.54323143e-02 -1.15067395e-02 9.97084530e-01 1.07292651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46255784399997 meters Centerline goodness : 0.103851 with order 2 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.04, Z:1.07 [[ 9.97043886e-01 3.29899540e-03 -7.67633057e-02 -8.63857855e+00] [-2.36123577e-03 9.99921517e-01 1.23038057e-02 -4.16806240e-02] [ 7.67978713e-02 -1.20861779e-02 9.96973426e-01 1.07132586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52255784399998 meters Centerline goodness : 0.183737 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.04, Z:1.07 [[ 9.97067310e-01 3.42373107e-03 -7.64529730e-02 -8.63933688e+00] [-2.45417150e-03 9.99915421e-01 1.27721302e-02 -4.45025970e-02] [ 7.64902350e-02 -1.25470448e-02 9.96991382e-01 1.07113157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58255784399998 meters Centerline goodness : 0.131964 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.05, Z:1.07 [[ 9.97121185e-01 3.69046838e-03 -7.57345618e-02 -8.64209570e+00] [-2.70868975e-03 9.99911019e-01 1.30620425e-02 -4.52906715e-02] [ 7.57760280e-02 -1.28192979e-02 9.97042456e-01 1.07244893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64255784399998 meters Centerline goodness : 0.221013 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.05, Z:1.07 [[ 9.97093767e-01 3.79530535e-03 -7.60895258e-02 -8.64022490e+00] [-2.77200045e-03 9.99904355e-01 1.35498016e-02 -4.88264517e-02] [ 7.61336738e-02 -1.32995025e-02 9.97008920e-01 1.07112600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70255784399998 meters Centerline goodness : 0.397723 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.05, Z:1.07 [[ 9.97106802e-01 4.18401230e-03 -7.58980841e-02 -8.64115580e+00] [-3.13587360e-03 9.99898143e-01 1.39237405e-02 -4.98959779e-02] [ 7.59486104e-02 -1.36454496e-02 9.97018360e-01 1.07182458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76255784399999 meters Centerline goodness : 0.131189 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.05, Z:1.07 [[ 9.97089778e-01 4.23271720e-03 -7.61187161e-02 -8.64078891e+00] [-3.19172317e-03 9.99899787e-01 1.37923828e-02 -4.91248301e-02] [ 7.61694672e-02 -1.35092941e-02 9.97003366e-01 1.07218536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822557844 meters Centerline goodness : 0.201998 with order 3 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.05, Z:1.07 [[ 9.97058542e-01 4.22414083e-03 -7.65272488e-02 -8.63964538e+00] [-3.19622508e-03 9.99903093e-01 1.35495261e-02 -4.75606753e-02] [ 7.65770678e-02 -1.32650724e-02 9.96975421e-01 1.07205530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882557844 meters Centerline goodness : 0.397898 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.05, Z:1.07 [[ 9.97076868e-01 4.29259517e-03 -7.62842960e-02 -8.64044371e+00] [-3.24623463e-03 9.99899018e-01 1.38353016e-02 -4.88532489e-02] [ 7.63359821e-02 -1.35472225e-02 9.96990116e-01 1.07216123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942557844 meters Centerline goodness : 0.156331 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.05, Z:1.07 [[ 9.97092350e-01 1.47849647e-04 -7.62025176e-02 -8.64075688e+00] [ 6.46014892e-04 9.99945782e-01 1.03930705e-02 -5.16494767e-02] [ 7.61999227e-02 -1.04120790e-02 9.97038194e-01 1.07218951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002557844 meters Centerline goodness : 0.109855 with order 2 Centerline is valid? [False, False] Translation: X:-8.64, Y:-0.05, Z:1.07 [[ 9.97135189e-01 -8.84541424e-05 -7.56399882e-02 -8.64242810e+00] [ 9.04734665e-04 9.99941728e-01 1.07574552e-02 -5.48236612e-02] [ 7.56346290e-02 -1.07950712e-02 9.97077163e-01 1.07237932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062557844 meters Centerline goodness : 0.122554 with order 2 Centerline is valid? [False, False] Translation: X:-8.69, Y:-0.06, Z:1.07 [[ 9.96981772e-01 -2.87808974e-04 -7.76354512e-02 -8.68856699e+00] [ 1.13639420e-03 9.99940095e-01 1.08864257e-02 -5.54587392e-02] [ 7.76276672e-02 -1.09417924e-02 9.96922375e-01 1.06962906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122557844 meters Centerline goodness : 0.218471 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:-0.06, Z:1.07 [[ 9.97017048e-01 7.31601376e-03 -7.68341206e-02 -8.66989300e+00] [-6.59685079e-03 9.99932066e-01 9.60958561e-03 -6.20165938e-02] [ 7.68992049e-02 -9.07405745e-03 9.96997580e-01 1.07237626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18255784399997 meters Centerline goodness : 0.118542 with order 2 Centerline is valid? [False, False] Translation: X:-8.67, Y:-0.06, Z:1.07 [[ 9.96955924e-01 8.24637518e-03 -7.75298853e-02 -8.66837650e+00] [-7.50469801e-03 9.99923298e-01 9.85283963e-03 -5.97574176e-02] [ 7.76051888e-02 -9.24100846e-03 9.96941342e-01 1.07287367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24255784399998 meters Centerline goodness : 0.122810 with order 2 Centerline is valid? [False, False] Translation: X:-8.67, Y:-0.05, Z:1.07 [[ 0.99695053 0.01159089 -0.07717055 -8.6701459 ] [-0.01070208 0.99987167 0.01192105 -0.05209033] [ 0.07729882 -0.01105882 0.99694664 1.07392755] [ 0. 0. 0. 1. ]] SLAMing on 204.30255784399998 meters Centerline goodness : 0.111486 with order 2 Centerline is valid? [False, False] Translation: X:-8.69, Y:-0.04, Z:1.07 [[ 9.97137093e-01 6.70519842e-03 -7.53170544e-02 -8.68857777e+00] [-5.64676988e-03 9.99882417e-01 1.42571469e-02 -4.16548045e-02] [ 7.54037954e-02 -1.37910319e-02 9.97057709e-01 1.07010598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36255784399998 meters Centerline goodness : 0.390957 with order 1 Centerline is valid? [False, False] Translation: X:-8.68, Y:-0.04, Z:1.07 [[ 9.96993024e-01 4.63861845e-03 -7.73523931e-02 -8.68010637e+00] [-3.70184307e-03 9.99918120e-01 1.22494844e-02 -3.85672850e-02] [ 7.74028802e-02 -1.19263040e-02 9.96928562e-01 1.06641019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42255784399998 meters Centerline goodness : 0.287764 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:-0.03, Z:1.07 [[ 9.97188416e-01 -7.39662146e-04 -7.49314123e-02 -8.70603405e+00] [ 1.83048040e-03 9.99893340e-01 1.44899256e-02 -3.04033660e-02] [ 7.49127025e-02 -1.45863465e-02 9.97083410e-01 1.06603724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48255784399998 meters Centerline goodness : 0.133244 with order 3 Centerline is valid? [False, False] Translation: X:-8.71, Y:-0.02, Z:1.07 [[ 9.97180442e-01 2.92045525e-03 -7.49842438e-02 -8.70557368e+00] [-1.64735013e-03 9.99853545e-01 1.70345413e-02 -2.37987724e-02] [ 7.50230106e-02 -1.68629862e-02 9.97039211e-01 1.06569632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542557844 meters Centerline goodness : 0.387054 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:-0.02, Z:1.07 [[ 9.97193415e-01 2.59852916e-03 -7.48234032e-02 -8.70588689e+00] [-1.39089134e-03 9.99868008e-01 1.61874285e-02 -1.96180836e-02] [ 7.48555906e-02 -1.60379259e-02 9.97065407e-01 1.06553019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602557844 meters Centerline goodness : 0.168029 with order 3 Centerline is valid? [False, False] Translation: X:-8.69, Y:-0.02, Z:1.07 [[ 0.99727007 0.01005529 -0.07315252 -8.68760626] [-0.0090076 0.99985229 0.01463778 -0.02343246] [ 0.0732889 -0.01393889 0.99721334 1.06784949] [ 0. 0. 0. 1. ]] SLAMing on 204.662557844 meters Centerline goodness : 0.262429 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:-0.01, Z:1.07 [[ 9.97391522e-01 1.51074379e-03 -7.21655762e-02 -8.70859445e+00] [-4.53577717e-04 9.99892385e-01 1.46633159e-02 -1.47231548e-02] [ 7.21799626e-02 -1.45923343e-02 9.97284872e-01 1.06517269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722557844 meters Centerline goodness : 0.179752 with order 3 Centerline is valid? [False, False] Translation: X:-8.71, Y:-0.01, Z:1.07 [[ 9.97394344e-01 1.17914904e-03 -7.21327464e-02 -8.70884512e+00] [-1.72209952e-04 9.99902482e-01 1.39641545e-02 -1.10908457e-02] [ 7.21421780e-02 -1.39153467e-02 9.97297282e-01 1.06540135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782557844 meters Centerline goodness : 0.125300 with order 3 Centerline is valid? [False, False] Translation: X:-8.71, Y:-0.01, Z:1.07 [[ 9.97395453e-01 8.97497724e-04 -7.21214588e-02 -8.70894348e+00] [ 6.47970424e-05 9.99911026e-01 1.33392497e-02 -8.09510691e-03] [ 7.21270138e-02 -1.33091802e-02 9.97306653e-01 1.06553387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842557844 meters Centerline goodness : 0.234221 with order 3 Centerline is valid? [False, False] Translation: X:-8.71, Y:-0.00, Z:1.06 [[ 9.97343028e-01 5.12077733e-04 -7.28465707e-02 -8.70647593e+00] [ 3.89918663e-04 9.99923445e-01 1.23673796e-02 -3.12996074e-03] [ 7.28473270e-02 -1.23629240e-02 9.97266476e-01 1.06461522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902557844 meters Centerline goodness : 0.199297 with order 3 Centerline is valid? [False, False] Translation: X:-8.70, Y:0.00, Z:1.06 [[ 9.97289263e-01 3.60100530e-04 -7.35798656e-02 -8.70444550e+00] [ 5.09359132e-04 9.99930278e-01 1.17974368e-02 3.89503396e-04] [ 7.35789838e-02 -1.18029357e-02 9.97219546e-01 1.06444720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96255784399997 meters Centerline goodness : 0.232225 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:0.01, Z:1.06 [[ 9.97456589e-01 -4.40009434e-03 -7.11406444e-02 -8.72731731e+00] [ 5.44174566e-03 9.99880714e-01 1.44549660e-02 7.56839565e-03] [ 7.10685550e-02 -1.48053304e-02 9.97361551e-01 1.06230145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02255784399998 meters Centerline goodness : 0.168768 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:0.01, Z:1.06 [[ 9.97566294e-01 -4.32405046e-03 -6.95901717e-02 -8.73168748e+00] [ 5.29646940e-03 9.99890816e-01 1.37950660e-02 1.13826417e-02] [ 6.95229230e-02 -1.41300751e-02 9.97480278e-01 1.06300539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08255784399998 meters Centerline goodness : 0.121606 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:0.01, Z:1.06 [[ 9.97551813e-01 -4.29315366e-03 -6.97993538e-02 -8.73127749e+00] [ 5.25539530e-03 9.99893595e-01 1.36080381e-02 1.25761736e-02] [ 6.97335054e-02 -1.39415463e-02 9.97468231e-01 1.06320323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14255784399998 meters Centerline goodness : 0.189527 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:0.01, Z:1.06 [[ 9.97483108e-01 -4.18628637e-03 -7.07808226e-02 -8.72770665e+00] [ 5.18762785e-03 9.99888969e-01 1.39691735e-02 1.02032086e-02] [ 7.07144848e-02 -1.43011991e-02 9.97394073e-01 1.06167730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20255784399998 meters Centerline goodness : 0.122905 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:0.01, Z:1.06 [[ 9.97502622e-01 -3.88669764e-03 -7.05224229e-02 -8.72875738e+00] [ 4.92005038e-03 9.99882981e-01 1.44850431e-02 7.89615550e-03] [ 7.04578715e-02 -1.47958423e-02 9.97405019e-01 1.06217232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26255784399999 meters Centerline goodness : 0.215456 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:0.01, Z:1.06 [[ 9.97557793e-01 -3.63979710e-03 -6.97509953e-02 -8.73140856e+00] [ 4.68120106e-03 9.99879920e-01 1.47726719e-02 6.83013629e-03] [ 6.96888500e-02 -1.50631124e-02 9.97455045e-01 1.06314638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322557844 meters Centerline goodness : 0.156418 with order 1 Centerline is valid? [False, False] Translation: X:-8.73, Y:0.00, Z:1.06 [[ 9.97514659e-01 -3.24556138e-03 -7.03844529e-02 -8.72883531e+00] [ 4.34372475e-03 9.99871130e-01 1.54549185e-02 3.50837031e-03] [ 7.03252226e-02 -1.57222385e-02 9.97400208e-01 1.06172167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382557844 meters Centerline goodness : 0.220284 with order 3 Centerline is valid? [False, False] Translation: X:-8.73, Y:0.00, Z:1.06 [[ 9.97518662e-01 -2.98494299e-03 -7.03392496e-02 -8.72894797e+00] [ 4.12308882e-03 9.99862831e-01 1.60411791e-02 9.89756516e-04] [ 7.02817192e-02 -1.62913904e-02 9.97394140e-01 1.06163802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442557844 meters Centerline goodness : 0.387980 with order 1 Centerline is valid? [False, False] Translation: X:-8.73, Y:-0.00, Z:1.06 [[ 9.97571283e-01 -2.83578833e-03 -6.95952182e-02 -8.73160911e+00] [ 4.00498554e-03 9.99853088e-01 1.66661859e-02 -3.04971180e-03] [ 6.95377321e-02 -1.69044363e-02 9.97436085e-01 1.06264153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502557844 meters Centerline goodness : 0.145002 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.01, Z:1.06 [[ 9.97584592e-01 2.92739343e-03 -6.94003749e-02 -8.75564396e+00] [-2.00336680e-03 9.99908473e-01 1.33802972e-02 -7.78864592e-03] [ 6.94331923e-02 -1.32089439e-02 9.97499151e-01 1.06152410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562557844 meters Centerline goodness : 0.224569 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.01, Z:1.06 [[ 9.97597346e-01 3.20872775e-03 -6.92043357e-02 -8.75650271e+00] [-2.24874469e-03 9.99900233e-01 1.39451652e-02 -9.64818820e-03] [ 6.92421776e-02 -1.37560369e-02 9.97505034e-01 1.06199941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622557844 meters Centerline goodness : 0.142823 with order 2 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.01, Z:1.06 [[ 9.97621147e-01 3.20514013e-03 -6.88605392e-02 -8.75760952e+00] [-2.25783514e-03 9.99901808e-01 1.38302916e-02 -9.19942543e-03] [ 6.88981057e-02 -1.36419156e-02 9.97530425e-01 1.06230050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68255784399997 meters Centerline goodness : 0.265163 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.01, Z:1.06 [[ 9.97616571e-01 3.34533776e-03 -6.89201366e-02 -8.75727964e+00] [-2.41482383e-03 9.99904868e-01 1.35802292e-02 -7.10553675e-03] [ 6.89590106e-02 -1.33814317e-02 9.97529745e-01 1.06207041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74255784399998 meters Centerline goodness : 0.378413 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.01, Z:1.06 [[ 9.97667486e-01 3.98025088e-03 -6.81450288e-02 -8.75922557e+00] [-3.06146014e-03 9.99903074e-01 1.35820010e-02 -5.25470326e-03] [ 6.81924835e-02 -1.33416975e-02 9.97582971e-01 1.06208125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80255784399998 meters Centerline goodness : 0.383033 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.00, Z:1.06 [[ 9.97645770e-01 4.49563287e-03 -6.84303023e-02 -8.75834026e+00] [-3.57157878e-03 9.99900866e-01 1.36199417e-02 -3.90043471e-03] [ 6.84847488e-02 -1.33434730e-02 9.97562926e-01 1.06184482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86255784399998 meters Centerline goodness : 0.366207 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.00, Z:1.06 [[ 9.97602287e-01 4.91047053e-03 -6.90330709e-02 -8.75628196e+00] [-3.98334754e-03 9.99900106e-01 1.35613754e-02 -2.48429647e-03] [ 6.90927676e-02 -1.32538764e-02 9.97522192e-01 1.06091584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92255784399998 meters Centerline goodness : 0.271073 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.00, Z:1.06 [[ 9.97599798e-01 5.90588322e-03 -6.89910355e-02 -8.75585595e+00] [-4.98107247e-03 9.99895528e-01 1.35691444e-02 -5.62558048e-04] [ 6.90639657e-02 -1.31929264e-02 9.97524995e-01 1.05949571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98255784399998 meters Centerline goodness : 0.180522 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:0.00, Z:1.06 [[ 9.97639995e-01 6.28476271e-03 -6.83735501e-02 -8.75767296e+00] [-5.36704391e-03 9.99893145e-01 1.35975606e-02 2.44378479e-05] [ 6.84517015e-02 -1.31985065e-02 9.97567123e-01 1.05949157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042557844 meters Centerline goodness : 0.160614 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.00, Z:1.06 [[ 9.97627770e-01 6.66027001e-03 -6.85162199e-02 -8.75706465e+00] [-5.69797913e-03 9.99882505e-01 1.42305755e-02 -2.79374035e-03] [ 6.86029491e-02 -1.38064134e-02 9.97548504e-01 1.05895955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102557844 meters Centerline goodness : 0.248162 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.01, Z:1.06 [[ 9.97615209e-01 3.68685253e-03 -6.89224339e-02 -8.75517864e+00] [-2.88292660e-03 9.99926692e-01 1.17600437e-02 -7.99484385e-03] [ 6.89607389e-02 -1.15333002e-02 9.97552705e-01 1.05762095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162557844 meters Centerline goodness : 0.198472 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.01, Z:1.06 [[ 9.97622375e-01 4.46446164e-03 -6.87725589e-02 -8.75542022e+00] [-3.59087745e-03 9.99911361e-01 1.28209018e-02 -1.28647765e-02] [ 6.88237014e-02 -1.25434647e-02 9.97549979e-01 1.05751098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222557844 meters Centerline goodness : 0.390328 with order 3 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.01, Z:1.06 [[ 9.97640227e-01 5.28649061e-03 -6.84545895e-02 -8.75635040e+00] [-4.38614335e-03 9.99901983e-01 1.32961047e-02 -1.38787759e-02] [ 6.85181696e-02 -1.29644773e-02 9.97565628e-01 1.05771164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282557844 meters Centerline goodness : 0.372808 with order 1 Centerline is valid? [False, False] Translation: X:-8.76, Y:-0.02, Z:1.06 [[ 9.97618674e-01 6.19450788e-03 -6.86921366e-02 -8.75504898e+00] [-5.24970591e-03 9.99889245e-01 1.39261524e-02 -1.57783201e-02] [ 6.87707943e-02 -1.35323762e-02 9.97540702e-01 1.05660740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342557844 meters Centerline goodness : 0.247223 with order 2 Centerline is valid? [False, False] Translation: X:-8.80, Y:-0.02, Z:1.05 [[ 9.97378026e-01 5.43165550e-03 -7.21634968e-02 -8.79671703e+00] [-4.46197550e-03 9.99897673e-01 1.35916831e-02 -2.40505549e-02] [ 7.22299379e-02 -1.32340543e-02 9.97300203e-01 1.05383682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402557844 meters Centerline goodness : 0.167963 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.03, Z:1.06 [[ 9.97530795e-01 3.82835444e-03 -7.01260009e-02 -8.80543323e+00] [-2.98379788e-03 9.99921805e-01 1.21442089e-02 -2.53436510e-02] [ 7.01670097e-02 -1.19049806e-02 9.97464216e-01 1.05758189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46255784399997 meters Centerline goodness : 0.171526 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:-0.02, Z:1.06 [[ 9.97601856e-01 4.35594672e-03 -6.90764931e-02 -8.80823615e+00] [-3.52298056e-03 9.99919665e-01 1.21758474e-02 -2.35260157e-02] [ 6.91239812e-02 -1.19032929e-02 9.97537060e-01 1.05771272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52255784399998 meters Centerline goodness : 0.150673 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-0.03, Z:1.06 [[ 0.99745379 0.01292484 -0.07013477 -8.82853403] [-0.01217116 0.99986362 0.01116291 -0.02630189] [ 0.07026948 -0.01028086 0.99747506 1.05526088] [ 0. 0. 0. 1. ]] SLAMing on 206.58255784399998 meters Centerline goodness : 0.171371 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-0.02, Z:1.06 [[ 0.99741359 0.01304054 -0.07068287 -8.82724214] [-0.0123066 0.99986585 0.01080903 -0.02346572] [ 0.07081434 -0.00991121 0.99744027 1.05522463] [ 0. 0. 0. 1. ]] SLAMing on 206.64255784399998 meters Centerline goodness : 0.095581 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-0.02, Z:1.06 [[ 9.97433799e-01 8.99446077e-03 -7.10275808e-02 -8.82725092e+00] [-8.52303087e-03 9.99939612e-01 6.93756637e-03 -2.26982592e-02] [ 7.10856913e-02 -6.31439291e-03 9.97450226e-01 1.05607729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70255784399998 meters Centerline goodness : 0.181467 with order 2 Centerline is valid? [False, False] Translation: X:-8.83, Y:-0.03, Z:1.06 [[ 9.97466277e-01 8.98987228e-03 -7.05705891e-02 -8.82855234e+00] [-8.49311808e-03 9.99937023e-01 7.33601998e-03 -2.51547478e-02] [ 7.06320947e-02 -6.71806819e-03 9.97479812e-01 1.05630398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76255784399999 meters Centerline goodness : 0.221381 with order 2 Centerline is valid? [False, False] Translation: X:-8.83, Y:-0.03, Z:1.06 [[ 9.97467888e-01 9.45915875e-03 -7.04864331e-02 -8.82825451e+00] [-8.89957393e-03 9.99926375e-01 8.24872380e-03 -2.89453381e-02] [ 7.05592695e-02 -7.60053789e-03 9.97478632e-01 1.05564385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822557844 meters Centerline goodness : 0.167607 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:-0.03, Z:1.05 [[ 9.97424517e-01 9.70932351e-03 -7.10637833e-02 -8.82583353e+00] [-9.13853268e-03 9.99923356e-01 8.35281739e-03 -2.96849815e-02] [ 7.11394368e-02 -7.68188615e-03 9.97436800e-01 1.05429755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882557844 meters Centerline goodness : 0.164474 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.03, Z:1.05 [[ 9.97169561e-01 1.26376445e-02 -7.41158358e-02 -8.87116332e+00] [-1.19636537e-02 9.99883012e-01 9.53068550e-03 -3.08767891e-02] [ 7.42276106e-02 -8.61701327e-03 9.97204096e-01 1.05325527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942557844 meters Centerline goodness : 0.170167 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.03, Z:1.05 [[ 9.97143635e-01 1.36447956e-02 -7.42858755e-02 -8.87042103e+00] [-1.29503280e-02 9.99867897e-01 9.82227006e-03 -2.97018816e-02] [ 7.44100850e-02 -8.83218761e-03 9.97188614e-01 1.05261866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002557844 meters Centerline goodness : 0.119660 with order 2 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.03, Z:1.05 [[ 9.97170758e-01 1.36641776e-02 -7.39173099e-02 -8.87147849e+00] [-1.29749484e-02 9.99867831e-01 9.79652104e-03 -2.95224477e-02] [ 7.40414017e-02 -8.80973104e-03 9.97216255e-01 1.05268734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062557844 meters Centerline goodness : 0.165487 with order 1 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.03, Z:1.05 [[ 9.96986012e-01 5.47165134e-03 -7.73883214e-02 -8.88930196e+00] [-4.63500340e-03 9.99928904e-01 1.09865256e-02 -2.86233107e-02] [ 7.74429338e-02 -1.05947172e-02 9.96940492e-01 1.05007398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122557844 meters Centerline goodness : 0.119073 with order 2 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.03, Z:1.05 [[ 9.96967885e-01 1.65584849e-03 -7.77964956e-02 -8.88832461e+00] [-1.07851070e-03 9.99971573e-01 7.46255844e-03 -2.94983211e-02] [ 7.78066409e-02 -7.35602675e-03 9.96941330e-01 1.05002168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18255784399997 meters Centerline goodness : 0.278917 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.04, Z:1.05 [[ 9.97060926e-01 -5.20273079e-04 -7.66109634e-02 -8.89416575e+00] [ 9.86027231e-04 9.99981262e-01 6.04177095e-03 -3.50898463e-02] [ 7.66063845e-02 -6.09955424e-03 9.97042756e-01 1.05297832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24255784399998 meters Centerline goodness : 0.112305 with order 2 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.04, Z:1.05 [[ 9.97062271e-01 -1.59678142e-04 -7.65950546e-02 -8.89426697e+00] [ 6.84318064e-04 9.99976487e-01 6.82333002e-03 -3.87433875e-02] [ 7.65921641e-02 -6.85570030e-03 9.97038936e-01 1.05316965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30255784399998 meters Centerline goodness : 0.165728 with order 1 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.04, Z:1.05 [[ 9.97072262e-01 1.14353838e-04 -7.64649694e-02 -8.89415741e+00] [ 4.54247642e-04 9.99972378e-01 7.41867037e-03 -4.21605504e-02] [ 7.64637057e-02 -7.43168448e-03 9.97044669e-01 1.05256112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36255784399998 meters Centerline goodness : 0.269752 with order 1 Centerline is valid? [False, False] Translation: X:-8.90, Y:-0.04, Z:1.05 [[ 9.97113888e-01 5.77844808e-04 -7.59181205e-02 -8.89598357e+00] [ 3.21014288e-05 9.99967736e-01 8.03279824e-03 -4.39698493e-02] [ 7.59203128e-02 -8.01205177e-03 9.97081698e-01 1.05318043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42255784399998 meters Centerline goodness : 0.167392 with order 1 Centerline is valid? [False, False] Translation: X:-8.90, Y:-0.04, Z:1.05 [[ 9.97078115e-01 -2.95348193e-03 -7.63315787e-02 -8.89503473e+00] [ 3.31356002e-03 9.99983971e-01 4.59106971e-03 -4.47645279e-02] [ 7.63167956e-02 -4.83058440e-03 9.97071919e-01 1.05322131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48255784399998 meters Centerline goodness : 0.161662 with order 1 Centerline is valid? [False, False] Translation: X:-8.90, Y:-0.05, Z:1.05 [[ 9.97139300e-01 -2.55615752e-03 -7.55425873e-02 -8.89756235e+00] [ 2.96757329e-03 9.99981369e-01 5.33439585e-03 -4.78941213e-02] [ 7.55275443e-02 -5.54331391e-03 9.97128308e-01 1.05389959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542557844 meters Centerline goodness : 0.162905 with order 1 Centerline is valid? [False, False] Translation: X:-8.90, Y:-0.05, Z:1.05 [[ 9.97124150e-01 -6.52274150e-03 -7.55041905e-02 -8.89689397e+00] [ 6.70121364e-03 9.99975319e-01 2.11063049e-03 -5.15298085e-02] [ 7.54885599e-02 -2.61053035e-03 9.97143251e-01 1.05309195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602557844 meters Centerline goodness : 0.149938 with order 1 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.06, Z:1.05 [[ 9.97077349e-01 -6.08950146e-03 -7.61556157e-02 -8.89462986e+00] [ 6.34871244e-03 9.99974847e-01 3.16206580e-03 -5.67480129e-02] [ 7.61344448e-02 -3.63631429e-03 9.97090930e-01 1.05237852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662557844 meters Centerline goodness : 0.157493 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.06, Z:1.06 [[ 9.97132974e-01 2.29603356e-03 -7.56343870e-02 -8.87479596e+00] [-2.12490486e-03 9.99994998e-01 2.34297354e-03 -6.20841431e-02] [ 7.56393881e-02 -2.17554030e-03 9.97132865e-01 1.05501028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722557844 meters Centerline goodness : 0.160232 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.07, Z:1.05 [[ 9.97111357e-01 2.64855881e-03 -7.59073623e-02 -8.87361483e+00] [-2.42954728e-03 9.99992616e-01 2.97744589e-03 -6.50043116e-02] [ 7.59146877e-02 -2.78442458e-03 9.97110429e-01 1.05434579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782557844 meters Centerline goodness : 0.160542 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.07, Z:1.05 [[ 9.97125065e-01 -1.44358770e-03 -7.57596280e-02 -8.87412119e+00] [ 1.40694957e-03 9.99998866e-01 -5.36979707e-04 -6.75050838e-02] [ 7.57603173e-02 4.28845949e-04 9.97125965e-01 1.05450253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842557844 meters Centerline goodness : 0.162294 with order 1 Centerline is valid? [False, False] Translation: X:-8.88, Y:-0.08, Z:1.05 [[ 9.97137688e-01 -4.98311673e-03 -7.54426905e-02 -8.87501753e+00] [ 4.78825714e-03 9.99984718e-01 -2.76354034e-03 -7.55990656e-02] [ 7.54553086e-02 2.39439123e-03 9.97146310e-01 1.05485891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902557844 meters Centerline goodness : 0.162352 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.08, Z:1.05 [[ 9.97110467e-01 -4.50367366e-03 -7.58316136e-02 -8.87351950e+00] [ 4.38818145e-03 9.99988945e-01 -1.68956202e-03 -8.10698437e-02] [ 7.58383845e-02 1.35191710e-03 9.97119206e-01 1.05431415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96255784399997 meters Centerline goodness : 0.161382 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.08, Z:1.05 [[ 9.97126911e-01 -4.17008595e-03 -7.56342053e-02 -8.87424769e+00] [ 4.09094937e-03 9.99990911e-01 -1.20120705e-03 -8.27847994e-02] [ 7.56385270e-02 8.88340167e-04 9.97134908e-01 1.05461643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02255784399998 meters Centerline goodness : 0.137245 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.09, Z:1.05 [[ 9.96969707e-01 2.92818241e-03 -7.77356364e-02 -8.89178449e+00] [-3.18860011e-03 9.99989712e-01 -3.22613216e-03 -9.05055770e-02] [ 7.77253900e-02 3.46422389e-03 9.96968787e-01 1.05170680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08255784399998 meters Centerline goodness : 0.164872 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.09, Z:1.05 [[ 9.96999086e-01 -4.61873561e-03 -7.72754146e-02 -8.87192184e+00] [ 4.51781008e-03 9.99988698e-01 -1.48081883e-03 -8.92513104e-02] [ 7.72813807e-02 1.12725937e-03 9.97008685e-01 1.05454375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14255784399998 meters Centerline goodness : 0.152428 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.09, Z:1.06 [[ 9.97033220e-01 -4.42757596e-03 -7.68450101e-02 -8.87349639e+00] [ 4.37229980e-03 9.99990048e-01 -8.87549454e-04 -9.24873923e-02] [ 7.68481750e-02 5.48926868e-04 9.97042655e-01 1.05529559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20255784399998 meters Centerline goodness : 0.136267 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.10, Z:1.05 [[ 9.97039432e-01 -4.06335106e-03 -7.67845082e-02 -8.87329841e+00] [ 4.06204762e-03 9.99991735e-01 -1.73157627e-04 -9.56928703e-02] [ 7.67845772e-02 -1.39257347e-04 9.97047697e-01 1.05479171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26255784399999 meters Centerline goodness : 0.135310 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.10, Z:1.05 [[ 9.97026574e-01 -3.80188022e-03 -7.69646423e-02 -8.87263467e+00] [ 3.84270234e-03 9.99992544e-01 3.82311619e-04 -9.84543027e-02] [ 7.69626150e-02 -6.76927055e-04 9.97033750e-01 1.05456640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322557844 meters Centerline goodness : 0.137785 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.10, Z:1.05 [[ 9.96930937e-01 -5.85181132e-03 -7.80670460e-02 -8.86740598e+00] [ 5.77663761e-03 9.99982609e-01 -1.18873217e-03 -1.03924562e-01] [ 7.80726445e-02 7.34118839e-04 9.96947402e-01 1.05220422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382557844 meters Centerline goodness : 0.146034 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.11, Z:1.05 [[ 9.96934330e-01 -5.68194813e-03 -7.80362514e-02 -8.86722971e+00] [ 5.62928848e-03 9.99983755e-01 -8.94775012e-04 -1.05058335e-01] [ 7.80400678e-02 4.52743356e-04 9.96950121e-01 1.05182608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442557844 meters Centerline goodness : 0.133812 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.11, Z:1.05 [[ 9.96968011e-01 -5.40867145e-03 -7.76242954e-02 -8.86835761e+00] [ 5.39268518e-03 9.99985373e-01 -4.15562171e-04 -1.07106071e-01] [ 7.76254076e-02 -4.30119618e-06 9.96982596e-01 1.05194566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502557844 meters Centerline goodness : 0.127928 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.11, Z:1.05 [[ 9.96792401e-01 -3.76222437e-04 -8.00297976e-02 -8.89064558e+00] [ 8.84092568e-05 9.99993517e-01 -3.59983820e-03 -1.12324789e-01] [ 8.00306330e-02 3.58121599e-03 9.96785971e-01 1.05056342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562557844 meters Centerline goodness : 0.137672 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.12, Z:1.05 [[ 9.96813286e-01 -2.42658868e-04 -7.97697543e-02 -8.89139788e+00] [ 9.04953796e-07 9.99995408e-01 -3.03066852e-03 -1.15311374e-01] [ 7.97701233e-02 3.02093846e-03 9.96808709e-01 1.05077078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622557844 meters Centerline goodness : 0.379433 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.12, Z:1.05 [[ 9.96817954e-01 -3.51431322e-05 -7.97117700e-02 -8.89177244e+00] [-1.65554336e-04 9.99996833e-01 -2.51117940e-03 -1.17833270e-01] [ 7.97116058e-02 2.51638534e-03 9.96814791e-01 1.05113645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68255784399997 meters Centerline goodness : 0.132683 with order 2 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.12, Z:1.05 [[ 9.96772482e-01 -2.95582833e-05 -8.02783822e-02 -8.88988122e+00] [-1.78963462e-04 9.99996629e-01 -2.59028685e-03 -1.17392748e-01] [ 8.02781881e-02 2.59629355e-03 9.96769117e-01 1.05050216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74255784399998 meters Centerline goodness : 0.209888 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.12, Z:1.05 [[ 9.96882036e-01 8.74232431e-03 -7.84205228e-02 -8.86945226e+00] [-9.05756138e-03 9.99952263e-01 -3.66502590e-03 -1.17086811e-01] [ 7.83847384e-02 4.36389718e-03 9.96913632e-01 1.05242061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80255784399998 meters Centerline goodness : 0.133849 with order 3 Centerline is valid? [False, False] Translation: X:-8.87, Y:-0.11, Z:1.05 [[ 9.96953575e-01 8.70129663e-03 -7.75103633e-02 -8.87276439e+00] [-9.05055360e-03 9.99950407e-01 -4.15578840e-03 -1.13947949e-01] [ 7.74703586e-02 4.84463980e-03 9.96982885e-01 1.05370278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86255784399998 meters Centerline goodness : 0.137509 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.11, Z:1.05 [[ 9.96756406e-01 6.50788992e-04 -8.04751157e-02 -8.88945923e+00] [-8.65555906e-04 9.99996157e-01 -2.63388131e-03 -1.07656989e-01] [ 8.04730923e-02 2.69499378e-03 9.96753138e-01 1.05035497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92255784399998 meters Centerline goodness : 0.138783 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.11, Z:1.05 [[ 9.96744732e-01 3.80691216e-04 -8.06213029e-02 -8.88935042e+00] [-6.22817078e-04 9.99995371e-01 -2.97812338e-03 -1.06367872e-01] [ 8.06197960e-02 3.01864112e-03 9.96740356e-01 1.05072731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98255784399998 meters Centerline goodness : 0.134310 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.11, Z:1.05 [[ 9.96743384e-01 2.85656701e-04 -8.06383624e-02 -8.88938802e+00] [-5.45257312e-04 9.99994740e-01 -3.19731715e-03 -1.05050786e-01] [ 8.06370249e-02 3.23087337e-03 9.96738296e-01 1.05080595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042557844 meters Centerline goodness : 0.137245 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.11, Z:1.05 [[ 9.96810033e-01 2.12076818e-04 -7.98104817e-02 -8.89186889e+00] [-4.56042803e-04 9.99995279e-01 -3.03860119e-03 -1.06420608e-01] [ 7.98094606e-02 3.06530515e-03 9.96805424e-01 1.05135603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102557844 meters Centerline goodness : 0.138609 with order 3 Centerline is valid? [False, False] Translation: X:-8.89, Y:-0.11, Z:1.05 [[ 9.96831115e-01 2.75816817e-04 -7.95465365e-02 -8.89278417e+00] [-5.08013203e-04 9.99995669e-01 -2.89877794e-03 -1.07100004e-01] [ 7.95453925e-02 2.93000274e-03 9.96826939e-01 1.05171379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162557844 meters Centerline goodness : 0.136446 with order 3 Centerline is valid? [False, False] Translation: X:-8.93, Y:-0.11, Z:1.05 [[ 9.96518544e-01 1.34886045e-03 -8.33604906e-02 -8.93285597e+00] [-1.50014746e-03 9.99997340e-01 -1.75224373e-03 -1.09639096e-01] [ 8.33579053e-02 1.87119640e-03 9.96517917e-01 1.04712970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222557844 meters Centerline goodness : 0.140086 with order 3 Centerline is valid? [False, False] Translation: X:-8.91, Y:-0.11, Z:1.05 [[ 9.96540518e-01 1.10140284e-02 -8.23752863e-02 -8.91127185e+00] [-1.12459304e-02 9.99933997e-01 -2.35172356e-03 -1.10385939e-01] [ 8.23439473e-02 3.26997455e-03 9.96598606e-01 1.04854507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282557844 meters Centerline goodness : 0.133482 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.11, Z:1.05 [[ 9.96292425e-01 1.25355536e-02 -8.51132460e-02 -8.95910204e+00] [-1.26255652e-02 9.99920160e-01 -5.19333406e-04 -1.12794486e-01] [ 8.50999404e-02 1.59201077e-03 9.96371149e-01 1.04830451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342557844 meters Centerline goodness : 0.143884 with order 3 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.11, Z:1.05 [[ 9.96327952e-01 4.27932183e-03 -8.55119867e-02 -8.93713783e+00] [-4.31932410e-03 9.99990632e-01 -2.82785913e-04 -1.09076837e-01] [ 8.55099754e-02 6.51101494e-04 9.96337102e-01 1.04967954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402557844 meters Centerline goodness : 0.135114 with order 3 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.11, Z:1.05 [[ 9.96317129e-01 4.52959975e-03 -8.56251180e-02 -8.93640192e+00] [-4.50922198e-03 9.99989740e-01 4.31394248e-04 -1.12711028e-01] [ 8.56261936e-02 -4.37028151e-05 9.96327332e-01 1.04912743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46255784399997 meters Centerline goodness : 0.146787 with order 3 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.11, Z:1.05 [[ 9.96306836e-01 4.63329447e-03 -8.57392637e-02 -8.93635186e+00] [-4.59739402e-03 9.99989242e-01 6.16165094e-04 -1.13538438e-01] [ 8.57411962e-02 -2.19712317e-04 9.96317419e-01 1.04951729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52255784399998 meters Centerline goodness : 0.149479 with order 3 Centerline is valid? [False, False] Translation: X:-8.93, Y:-0.11, Z:1.05 [[ 9.96242642e-01 4.59831645e-03 -8.64838386e-02 -8.93371407e+00] [-4.57135789e-03 9.99989421e-01 5.09761702e-04 -1.13472804e-01] [ 8.64852678e-02 -1.12497767e-04 9.96253123e-01 1.04850446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58255784399998 meters Centerline goodness : 0.137429 with order 3 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.11, Z:1.05 [[ 9.96282835e-01 4.43791823e-03 -8.60280073e-02 -8.93502770e+00] [-4.45003956e-03 9.99990097e-01 5.08700923e-05 -1.10687717e-01] [ 8.60273812e-02 3.32147037e-04 9.96292718e-01 1.04854904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64255784399998 meters Centerline goodness : 0.133534 with order 3 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.11, Z:1.05 [[ 9.96309845e-01 4.28328440e-03 -8.57224972e-02 -8.93622934e+00] [-4.32892301e-03 9.99990570e-01 -3.46520421e-04 -1.08342435e-01] [ 8.57202046e-02 7.16327797e-04 9.96318992e-01 1.04904999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70255784399998 meters Centerline goodness : 0.130694 with order 3 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.11, Z:1.05 [[ 9.96353594e-01 3.88646056e-03 -8.52315110e-02 -8.93778569e+00] [-3.96503604e-03 9.99991856e-01 -7.52644160e-04 -1.06939758e-01] [ 8.52278918e-02 1.08784573e-03 9.96360890e-01 1.04948388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76255784399999 meters Centerline goodness : 0.135669 with order 3 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.11, Z:1.05 [[ 9.96342488e-01 3.63284254e-03 -8.53724124e-02 -8.93731926e+00] [-3.72241295e-03 9.99992676e-01 -8.90009318e-04 -1.06712992e-01] [ 8.53685539e-02 1.20454547e-03 9.96348714e-01 1.04937284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822557844 meters Centerline goodness : 0.136205 with order 3 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.11, Z:1.05 [[ 9.96337706e-01 3.08861837e-03 -8.54496128e-02 -8.93704740e+00] [-3.19763251e-03 9.99994239e-01 -1.13893159e-03 -1.06882304e-01] [ 8.54456028e-02 1.40799694e-03 9.96341842e-01 1.04936118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882557844 meters Centerline goodness : 0.147276 with order 3 Centerline is valid? [False, False] Translation: X:-8.94, Y:-0.11, Z:1.05 [[ 9.96328111e-01 3.07787885e-03 -8.55618034e-02 -8.93690556e+00] [-3.16374330e-03 9.99994619e-01 -8.67958533e-04 -1.08612445e-01] [ 8.55586715e-02 1.13546707e-03 9.96332487e-01 1.04960115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942557844 meters Centerline goodness : 0.138069 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.12, Z:1.04 [[ 9.96561151e-01 6.65179268e-03 -8.25931379e-02 -8.95579845e+00] [-7.02777475e-03 9.99966221e-01 -4.26233118e-03 -1.15396616e-01] [ 8.25619958e-02 4.82811963e-03 9.96574235e-01 1.04463410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002557844 meters Centerline goodness : 0.138003 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.12, Z:1.04 [[ 9.96549516e-01 6.67669525e-03 -8.27313978e-02 -8.95505894e+00] [-7.04435900e-03 9.99966564e-01 -4.15296435e-03 -1.16473552e-01] [ 8.27009036e-02 4.72142428e-03 9.96563229e-01 1.04407088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062557844 meters Centerline goodness : 0.135060 with order 3 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.12, Z:1.04 [[ 9.96474495e-01 7.58282775e-03 -8.35528694e-02 -8.95247674e+00] [-7.90412392e-03 9.99962583e-01 -3.51530552e-03 -1.17063025e-01] [ 8.35230871e-02 4.16332453e-03 9.96497145e-01 1.04331536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122557844 meters Centerline goodness : 0.138096 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.12, Z:1.04 [[ 9.96172056e-01 6.76881738e-03 -8.71516991e-02 -8.99640802e+00] [-7.09956669e-03 9.99968723e-01 -3.48569535e-03 -1.21879313e-01] [ 8.71253792e-02 4.09109160e-03 9.96188954e-01 1.04125796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18255784399997 meters Centerline goodness : 0.136238 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.12, Z:1.04 [[ 9.96263128e-01 -1.11178592e-04 -8.63699479e-02 -8.97892500e+00] [-7.14213678e-06 9.99999062e-01 -1.36961916e-03 -1.19017395e-01] [ 8.63700192e-02 1.36511794e-03 9.96262193e-01 1.04495636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24255784399998 meters Centerline goodness : 0.142273 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.12, Z:1.05 [[ 9.96371197e-01 -2.65755572e-03 -8.50727595e-02 -8.98419292e+00] [ 2.38859986e-03 9.99991823e-01 -3.26311136e-03 -1.24545684e-01] [ 8.50807358e-02 3.04806539e-03 9.96369398e-01 1.04682472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30255784399998 meters Centerline goodness : 0.138478 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.13, Z:1.05 [[ 9.96382711e-01 -2.50002989e-03 -8.49425895e-02 -8.98469002e+00] [ 2.25824125e-03 9.99993121e-01 -2.94245982e-03 -1.26036254e-01] [ 8.49493614e-02 2.73999523e-03 9.96381502e-01 1.04707571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36255784399998 meters Centerline goodness : 0.136351 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.14, Z:1.05 [[ 9.96464631e-01 5.16634435e-03 -8.38543235e-02 -9.00493357e+00] [-5.41712317e-03 9.99981509e-01 -2.76339741e-03 -1.37346552e-01] [ 8.38384962e-02 3.20787698e-03 9.96474192e-01 1.04511816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42255784399998 meters Centerline goodness : 0.137265 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.14, Z:1.04 [[ 9.96436788e-01 5.50579731e-03 -8.41630175e-02 -9.00373214e+00] [-5.69247831e-03 9.99981841e-01 -1.97827365e-03 -1.41073034e-01] [ 8.41505972e-02 2.45032079e-03 9.96450035e-01 1.04453663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48255784399998 meters Centerline goodness : 0.136298 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.14, Z:1.05 [[ 9.96669787e-01 -3.17916660e-03 -8.14814628e-02 -8.98318323e+00] [ 3.07092820e-03 9.99994228e-01 -1.45366679e-03 -1.44367334e-01] [ 8.14856139e-02 1.19860204e-03 9.96673797e-01 1.04602870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542557844 meters Centerline goodness : 0.138235 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.15, Z:1.05 [[ 9.96680098e-01 -2.84108587e-03 -8.13677543e-02 -8.98364454e+00] [ 2.78989316e-03 9.99995832e-01 -7.42837731e-04 -1.47387753e-01] [ 8.13695257e-02 5.13364241e-04 9.96683870e-01 1.04630375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602557844 meters Centerline goodness : 0.142972 with order 2 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.15, Z:1.05 [[ 9.96689510e-01 -6.89664265e-03 -8.10089901e-02 -8.98432317e+00] [ 6.59357828e-03 9.99970230e-01 -4.00803697e-03 -1.51535653e-01] [ 8.10342204e-02 3.46062929e-03 9.96705312e-01 1.04608182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662557844 meters Centerline goodness : 0.142833 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.16, Z:1.05 [[ 9.97086788e-01 -2.54616740e-03 -7.62328965e-02 -8.96364471e+00] [ 2.01935130e-03 9.99973552e-01 -6.98689917e-03 -1.57627181e-01] [ 7.62486701e-02 6.81260385e-03 9.97065559e-01 1.04691845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722557844 meters Centerline goodness : 0.151695 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.16, Z:1.05 [[ 9.97105296e-01 -2.23143771e-03 -7.60003212e-02 -8.96403843e+00] [ 1.77505410e-03 9.99979990e-01 -6.07204301e-03 -1.62623567e-01] [ 7.60123497e-02 5.91956157e-03 9.97089305e-01 1.04673414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782557844 meters Centerline goodness : 0.150174 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.17, Z:1.04 [[ 9.96807736e-01 5.29499019e-03 -7.96636659e-02 -8.98133457e+00] [-5.88491195e-03 9.99956963e-01 -7.17219624e-03 -1.69826717e-01] [ 7.96222607e-02 7.61811436e-03 9.96795997e-01 1.04340035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842557844 meters Centerline goodness : 0.148535 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.17, Z:1.04 [[ 9.96691604e-01 6.54304649e-03 -8.10125644e-02 -8.97715719e+00] [-7.09753664e-03 9.99953305e-01 -6.55841751e-03 -1.68557186e-01] [ 8.09658695e-02 7.11170931e-03 9.96691503e-01 1.04218941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902557844 meters Centerline goodness : 0.138078 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.17, Z:1.04 [[ 9.96700283e-01 7.58757454e-03 -8.08144403e-02 -8.97725563e+00] [-8.11290185e-03 9.99948030e-01 -6.17403720e-03 -1.67291214e-01] [ 8.07633944e-02 6.80930425e-03 9.96710042e-01 1.04136314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96255784399997 meters Centerline goodness : 0.134538 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.17, Z:1.04 [[ 9.96775191e-01 5.31479171e-03 -8.00685459e-02 -8.98103592e+00] [-5.97767144e-03 9.99949800e-01 -8.04148093e-03 -1.71288312e-01] [ 8.00217876e-02 8.49417215e-03 9.96756922e-01 1.04287102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02255784399998 meters Centerline goodness : 0.131781 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.17, Z:1.04 [[ 9.96797885e-01 1.17211945e-03 -7.99537550e-02 -8.98091517e+00] [-2.12254867e-03 9.99928086e-01 -1.18032839e-02 -1.71893683e-01] [ 7.99341703e-02 1.19351942e-02 9.96728689e-01 1.04225477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08255784399998 meters Centerline goodness : 0.148836 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.18, Z:1.04 [[ 9.96729111e-01 1.15481474e-03 -8.08068435e-02 -8.97788635e+00] [-2.07513892e-03 9.99933930e-01 -1.13061331e-02 -1.75153884e-01] [ 8.07884482e-02 1.14368375e-02 9.96665654e-01 1.04104025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14255784399998 meters Centerline goodness : 0.137484 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.18, Z:1.04 [[ 9.96697293e-01 1.34219639e-03 -8.11954729e-02 -8.97691464e+00] [-2.22980414e-03 9.99938737e-01 -1.08420525e-02 -1.77399259e-01] [ 8.11759464e-02 1.09872944e-02 9.96639225e-01 1.04115592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20255784399998 meters Centerline goodness : 0.129870 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.18, Z:1.04 [[ 9.96688144e-01 1.32145241e-03 -8.13080355e-02 -8.97603937e+00] [-2.21564831e-03 9.99938047e-01 -1.09083913e-02 -1.77230963e-01] [ 8.12885833e-02 1.10524143e-02 9.96629324e-01 1.04026856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26255784399999 meters Centerline goodness : 0.141035 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97013500e-01 -1.89690640e-03 -7.72041653e-02 -8.95519884e+00] [ 1.37440621e-03 9.99975797e-01 -6.82034369e-03 -1.74143482e-01] [ 7.72152343e-02 6.69386484e-03 9.96991976e-01 1.04117254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322557844 meters Centerline goodness : 0.133049 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97044396e-01 -1.95600073e-03 -7.68026472e-02 -8.95672720e+00] [ 1.42007257e-03 9.99974267e-01 -7.03198418e-03 -1.72800292e-01] [ 7.68144254e-02 6.90213509e-03 9.97021517e-01 1.04178988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382557844 meters Centerline goodness : 0.125912 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97052236e-01 -2.19824720e-03 -7.66942402e-02 -8.95697088e+00] [ 1.62652654e-03 9.99970430e-01 -7.51621343e-03 -1.70760571e-01] [ 7.67084949e-02 7.36931219e-03 9.97026329e-01 1.04167783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442557844 meters Centerline goodness : 0.138886 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97052349e-01 -2.32666368e-03 -7.66889844e-02 -8.95683598e+00] [ 1.73083849e-03 9.99967809e-01 -7.83492188e-03 -1.69081636e-01] [ 7.67047449e-02 7.67909102e-03 9.97024279e-01 1.04139419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502557844 meters Centerline goodness : 0.136429 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97055855e-01 -2.38149666e-03 -7.66416963e-02 -8.95702012e+00] [ 1.78560837e-03 9.99967652e-01 -7.84257624e-03 -1.69047057e-01] [ 7.66578942e-02 7.68263451e-03 9.97027855e-01 1.04145536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562557844 meters Centerline goodness : 0.141844 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97056918e-01 -2.50555088e-03 -7.66239170e-02 -8.95636420e+00] [ 1.91252220e-03 9.99967658e-01 -7.81187364e-03 -1.70381519e-01] [ 7.66410119e-02 7.64233771e-03 9.97029463e-01 1.04056752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622557844 meters Centerline goodness : 0.144143 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97044351e-01 -2.45549960e-03 -7.67888797e-02 -8.95560647e+00] [ 1.85944200e-03 9.99967594e-01 -7.83282527e-03 -1.69960098e-01] [ 7.68056248e-02 7.66688972e-03 9.97016607e-01 1.04001010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68255784399997 meters Centerline goodness : 0.145943 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97031980e-01 -2.27078372e-03 -7.69550138e-02 -8.95506676e+00] [ 1.69501977e-03 9.99970090e-01 -7.54631645e-03 -1.71228639e-01] [ 7.69698481e-02 7.39347856e-03 9.97006007e-01 1.03985366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74255784399998 meters Centerline goodness : 0.139658 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97078195e-01 -2.01987717e-03 -7.63609337e-02 -8.95736394e+00] [ 1.47372796e-03 9.99972937e-01 -7.20788063e-03 -1.72360343e-01] [ 7.63734261e-02 7.07428536e-03 9.97054188e-01 1.04092800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80255784399998 meters Centerline goodness : 0.140801 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97049948e-01 2.13405256e-03 -7.67257849e-02 -8.95590040e+00] [-2.40488576e-03 9.99991199e-01 -3.43766364e-03 -1.71596947e-01] [ 7.67177735e-02 3.61203910e-03 9.97046306e-01 1.04033144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86255784399998 meters Centerline goodness : 0.135140 with order 2 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.17, Z:1.04 [[ 9.96996176e-01 1.79552412e-03 -7.74299784e-02 -8.95384045e+00] [-2.14786701e-03 9.99987714e-01 -4.46743164e-03 -1.66714887e-01] [ 7.74210057e-02 4.62032156e-03 9.96987784e-01 1.03977793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92255784399998 meters Centerline goodness : 0.140704 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.17, Z:1.04 [[ 9.97012673e-01 -2.13420243e-03 -7.72086527e-02 -8.95513867e+00] [ 1.52871211e-03 9.99967622e-01 -7.90051325e-03 -1.67369947e-01] [ 7.72230141e-02 7.75888202e-03 9.96983654e-01 1.04050532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98255784399998 meters Centerline goodness : 0.150615 with order 3 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.17, Z:1.04 [[ 9.96986594e-01 -6.25746593e-03 -7.73212499e-02 -8.95398618e+00] [ 5.38885419e-03 9.99920070e-01 -1.14373525e-02 -1.69169494e-01] [ 7.73866385e-02 1.09862141e-02 9.96940626e-01 1.03951171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042557844 meters Centerline goodness : 0.144681 with order 3 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.17, Z:1.04 [[ 9.96945179e-01 -6.28954130e-03 -7.78508338e-02 -8.95230280e+00] [ 5.44520377e-03 9.99924086e-01 -1.10531148e-02 -1.71927851e-01] [ 7.79144428e-02 1.05954358e-02 9.96903745e-01 1.03918917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102557844 meters Centerline goodness : 0.146711 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.18, Z:1.04 [[ 9.97182093e-01 1.98497568e-03 -7.49928902e-02 -8.97742556e+00] [-2.78089543e-03 9.99940898e-01 -1.05103398e-02 -1.79275061e-01] [ 7.49675952e-02 1.06892700e-02 9.97128677e-01 1.03788236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162557844 meters Centerline goodness : 0.141155 with order 3 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.18, Z:1.04 [[ 9.97141039e-01 2.16506743e-03 -7.55318588e-02 -8.97519014e+00] [-2.96564392e-03 9.99940595e-01 -1.04886395e-02 -1.79195368e-01] [ 7.55046633e-02 1.06826535e-02 9.97088224e-01 1.03653826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222557844 meters Centerline goodness : 0.212593 with order 3 Centerline is valid? [False, False] Translation: X:-9.02, Y:-0.18, Z:1.03 [[ 9.96870529e-01 1.13381810e-03 -7.90434210e-02 -9.01773865e+00] [-1.94550341e-03 9.99946162e-01 -1.01925997e-02 -1.82848718e-01] [ 7.90276088e-02 1.03144815e-02 9.96819065e-01 1.03348667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282557844 meters Centerline goodness : 0.142136 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.18, Z:1.04 [[ 9.96877020e-01 -6.17135227e-03 -7.87281431e-02 -8.99832395e+00] [ 5.46964545e-03 9.99943402e-01 -9.12556925e-03 -1.76982575e-01] [ 7.87800043e-02 8.66645525e-03 9.96854354e-01 1.03565301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342557844 meters Centerline goodness : 0.136743 with order 2 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.18, Z:1.04 [[ 9.96841410e-01 -6.50795708e-03 -7.91508039e-02 -8.99697237e+00] [ 5.78075363e-03 9.99938985e-01 -9.41323849e-03 -1.76533378e-01] [ 7.92072355e-02 8.92595463e-03 9.96818209e-01 1.03527831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402557844 meters Centerline goodness : 0.150594 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.18, Z:1.04 [[ 9.96816907e-01 -6.50176422e-03 -7.94593021e-02 -8.99606617e+00] [ 5.77374091e-03 9.99939258e-01 -9.38853865e-03 -1.76176148e-01] [ 7.95155176e-02 8.89987664e-03 9.96793898e-01 1.03506801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46255784399997 meters Centerline goodness : 0.153838 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.18, Z:1.04 [[ 0.99682388 -0.01073887 -0.07891023 -8.99850408] [ 0.00972502 0.9998653 -0.01322124 -0.17667413] [ 0.07904158 0.01241184 0.99679405 1.03646514] [ 0. 0. 0. 1. ]] SLAMing on 212.52255784399998 meters Centerline goodness : 0.145610 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.18, Z:1.04 [[ 0.9968529 -0.01089704 -0.07852101 -8.99987877] [ 0.00993158 0.99987034 -0.01267562 -0.18006387] [ 0.07864896 0.01185589 0.99683187 1.03704807] [ 0. 0. 0. 1. ]] SLAMing on 212.58255784399998 meters Centerline goodness : 0.144535 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.18, Z:1.04 [[ 0.99682402 -0.0112812 -0.07883284 -8.99894435] [ 0.01035487 0.99987258 -0.01214949 -0.18499556] [ 0.07895986 0.0112946 0.99681381 1.03710182] [ 0. 0. 0. 1. ]] SLAMing on 212.64255784399998 meters Centerline goodness : 0.206146 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.19, Z:1.04 [[ 0.99680062 -0.011124 -0.0791504 -8.99839042] [ 0.01023438 0.99987992 -0.01163642 -0.18773858] [ 0.07927034 0.01078914 0.99679477 1.03748641] [ 0. 0. 0. 1. ]] SLAMing on 212.70255784399998 meters Centerline goodness : 0.179026 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.19, Z:1.04 [[ 0.99679934 -0.01087408 -0.07920116 -8.99864947] [ 0.01006133 0.99989263 -0.01065374 -0.19297691] [ 0.07930851 0.00982277 0.99680172 1.03809217] [ 0. 0. 0. 1. ]] SLAMing on 212.76255784399999 meters Centerline goodness : 0.136460 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.20, Z:1.04 [[ 0.99675505 -0.01068047 -0.07978285 -8.99707146] [ 0.00992122 0.99990171 -0.0099067 -0.19656546] [ 0.07988082 0.00908301 0.99676304 1.03780383] [ 0. 0. 0. 1. ]] SLAMing on 212.822557844 meters Centerline goodness : 0.192393 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.20, Z:1.04 [[ 9.96822476e-01 -1.04275704e-02 -7.89697235e-02 -8.99967972e+00] [ 9.79772170e-03 9.99917062e-01 -8.35910736e-03 -2.03119450e-01] [ 7.90503391e-02 7.55882272e-03 9.96841967e-01 1.03785627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882557844 meters Centerline goodness : 0.152838 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.21, Z:1.04 [[ 0.99680026 -0.0141106 -0.07867733 -9.00081546] [ 0.0132801 0.99985055 -0.01106913 -0.2083985 ] [ 0.07882177 0.00998887 0.99683868 1.03852248] [ 0. 0. 0. 1. ]] SLAMing on 212.942557844 meters Centerline goodness : 0.152193 with order 3 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.22, Z:1.04 [[ 9.96805028e-01 -4.98741563e-03 -7.97173885e-02 -9.01492800e+00] [ 4.03394070e-03 9.99918446e-01 -1.21172624e-02 -2.18829447e-01] [ 7.97713211e-02 1.17569728e-02 9.96743854e-01 1.03575861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002557844 meters Centerline goodness : 0.268690 with order 1 Centerline is valid? [False, False] Translation: X:-9.02, Y:-0.23, Z:1.04 [[ 9.96863163e-01 -5.38735705e-03 -7.89608136e-02 -9.01813522e+00] [ 4.50202470e-03 9.99925042e-01 -1.13860357e-02 -2.27470534e-01] [ 7.90162355e-02 1.09948361e-02 9.96812695e-01 1.03643753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062557844 meters Centerline goodness : 0.175810 with order 3 Centerline is valid? [False, False] Translation: X:-9.02, Y:-0.23, Z:1.04 [[ 9.96768130e-01 -5.42715840e-03 -8.01488663e-02 -9.01547575e+00] [ 4.60533390e-03 9.99934948e-01 -1.04350234e-02 -2.32503034e-01] [ 8.02002850e-02 1.00321864e-02 9.96728283e-01 1.03619588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122557844 meters Centerline goodness : 0.137309 with order 2 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.24, Z:1.03 [[ 9.96744119e-01 -4.86263693e-03 -8.04830109e-02 -9.01367790e+00] [ 4.14342701e-03 9.99950003e-01 -9.10076919e-03 -2.36236505e-01] [ 8.05232407e-02 8.73766269e-03 9.96714433e-01 1.03416057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18255784399997 meters Centerline goodness : 0.085158 with order 1 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.23, Z:1.03 [[ 9.96738298e-01 -5.13320062e-03 -8.05382861e-02 -9.01358708e+00] [ 4.36887649e-03 9.99943763e-01 -9.66354596e-03 -2.33760455e-01] [ 8.05833618e-02 9.28016453e-03 9.96704671e-01 1.03424309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24255784399998 meters Centerline goodness : 0.134780 with order 3 Centerline is valid? [False, False] Translation: X:-8.99, Y:-0.23, Z:1.04 [[ 9.96881370e-01 3.79088905e-03 -7.88236175e-02 -8.99264925e+00] [-4.66057028e-03 9.99930252e-01 -1.08522175e-02 -2.30796834e-01] [ 7.87769802e-02 1.11857365e-02 9.96829507e-01 1.03527173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30255784399998 meters Centerline goodness : 0.135072 with order 2 Centerline is valid? [False, False] Translation: X:-8.99, Y:-0.22, Z:1.03 [[ 9.96839267e-01 3.13491760e-03 -7.93829215e-02 -8.98962336e+00] [-4.13192415e-03 9.99914601e-01 -1.23983136e-02 -2.19407538e-01] [ 7.93372746e-02 1.26871300e-02 9.96767091e-01 1.03336225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36255784399998 meters Centerline goodness : 0.151396 with order 2 Centerline is valid? [False, False] Translation: X:-8.97, Y:-0.21, Z:1.04 [[ 9.96872602e-01 -5.76004286e-03 -7.88152091e-02 -8.96903031e+00] [ 4.78288075e-03 9.99909413e-01 -1.25813064e-02 -2.11510902e-01] [ 7.88805383e-02 1.21649959e-02 9.96809848e-01 1.03577545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42255784399998 meters Centerline goodness : 0.149454 with order 2 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.21, Z:1.04 [[ 0.99706299 -0.01750484 -0.07455849 -8.95654833] [ 0.01652523 0.9997691 -0.01373555 -0.20584117] [ 0.07478171 0.01246312 0.99712204 1.03944943] [ 0. 0. 0. 1. ]] SLAMing on 213.48255784399998 meters Centerline goodness : 0.143383 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.21, Z:1.04 [[ 0.99704181 -0.01807741 -0.07470503 -8.95606272] [ 0.01711745 0.99976274 -0.01347044 -0.2068593 ] [ 0.07493082 0.01215184 0.99711469 1.03789741] [ 0. 0. 0. 1. ]] SLAMing on 213.542557844 meters Centerline goodness : 0.151255 with order 2 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.21, Z:1.04 [[ 0.99706012 -0.01854899 -0.0743441 -8.9575817 ] [ 0.01761367 0.99975751 -0.01321689 -0.20798404] [ 0.07457123 0.01186856 0.99714506 1.03762272] [ 0. 0. 0. 1. ]] SLAMing on 213.602557844 meters Centerline goodness : 0.163738 with order 2 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.21, Z:1.04 [[ 9.97275940e-01 -9.55471598e-03 -7.31396412e-02 -8.97736719e+00] [ 8.48704953e-03 9.99853050e-01 -1.48945443e-02 -2.11373267e-01] [ 7.32712065e-02 1.42332309e-02 9.97210482e-01 1.03628996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662557844 meters Centerline goodness : 0.147714 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.21, Z:1.04 [[ 9.97375530e-01 -2.67514849e-04 -7.24015194e-02 -8.95570363e+00] [-8.47841380e-04 9.99881454e-01 -1.53739782e-02 -2.12464637e-01] [ 7.23970493e-02 1.53950147e-02 9.97257069e-01 1.03705302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722557844 meters Centerline goodness : 0.146797 with order 3 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.21, Z:1.04 [[ 9.97336561e-01 3.18886573e-03 -7.28671026e-02 -8.95415453e+00] [-4.09155994e-03 9.99916689e-01 -1.22423182e-02 -2.10116367e-01] [ 7.28219928e-02 1.25078517e-02 9.97266520e-01 1.03668417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782557844 meters Centerline goodness : 0.135075 with order 2 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.20, Z:1.04 [[ 9.97309071e-01 7.01839929e-03 -7.29750630e-02 -8.95357792e+00] [-7.73901107e-03 9.99924003e-01 -9.59670320e-03 -2.02797746e-01] [ 7.29021636e-02 1.01356340e-02 9.97287593e-01 1.03656937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842557844 meters Centerline goodness : 0.163357 with order 3 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.20, Z:1.04 [[ 9.97271316e-01 6.86143452e-03 -7.35040376e-02 -8.95200375e+00] [-7.64030774e-03 9.99917554e-01 -1.03203981e-02 -1.98924937e-01] [ 7.34271648e-02 1.08538305e-02 9.97241518e-01 1.03630163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902557844 meters Centerline goodness : 0.146278 with order 2 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.20, Z:1.04 [[ 9.97230718e-01 6.55876593e-03 -7.40802106e-02 -8.94981284e+00] [-7.38248823e-03 9.99913874e-01 -1.08509815e-02 -1.95797624e-01] [ 7.40026613e-02 1.13678283e-02 9.97193250e-01 1.03529180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96255784399997 meters Centerline goodness : 0.144416 with order 2 Centerline is valid? [False, False] Translation: X:-8.95, Y:-0.20, Z:1.04 [[ 9.97190538e-01 6.25147130e-03 -7.46454966e-02 -8.94833103e+00] [-7.08668085e-03 9.99915160e-01 -1.09293956e-02 -1.95008098e-01] [ 7.45708389e-02 1.14276787e-02 9.97150239e-01 1.03534660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02255784399998 meters Centerline goodness : 0.170396 with order 2 Centerline is valid? [False, False] Translation: X:-8.97, Y:-0.19, Z:1.03 [[ 9.97071153e-01 -1.23044781e-03 -7.64696089e-02 -8.96800220e+00] [ 5.92115201e-04 9.99964799e-01 -8.36964545e-03 -1.89866839e-01] [ 7.64772155e-02 8.29985322e-03 9.97036784e-01 1.03445833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08255784399998 meters Centerline goodness : 0.151384 with order 2 Centerline is valid? [False, False] Translation: X:-8.97, Y:-0.19, Z:1.03 [[ 9.97072713e-01 -1.37608354e-03 -7.64467878e-02 -8.96833207e+00] [ 7.19016986e-04 9.99962572e-01 -8.62194265e-03 -1.87632392e-01] [ 7.64557910e-02 8.54173721e-03 9.97036384e-01 1.03496248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14255784399998 meters Centerline goodness : 0.163324 with order 2 Centerline is valid? [False, False] Translation: X:-8.97, Y:-0.19, Z:1.04 [[ 9.97071786e-01 -1.47658345e-03 -7.64570056e-02 -8.96836663e+00] [ 8.04810732e-04 9.99960811e-01 -8.81634727e-03 -1.85704102e-01] [ 7.64670274e-02 8.72899770e-03 9.97033900e-01 1.03517869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20255784399998 meters Centerline goodness : 0.149251 with order 2 Centerline is valid? [False, False] Translation: X:-8.97, Y:-0.18, Z:1.04 [[ 9.97068293e-01 2.42654965e-03 -7.64783082e-02 -8.96825470e+00] [-2.86151160e-03 9.99980347e-01 -5.57832055e-03 -1.81229082e-01] [ 7.64632691e-02 5.78081011e-03 9.97055641e-01 1.03522171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26255784399999 meters Centerline goodness : 0.154545 with order 2 Centerline is valid? [False, False] Translation: X:-8.97, Y:-0.18, Z:1.04 [[ 9.97099792e-01 1.99704602e-03 -7.60790196e-02 -8.97012810e+00] [-2.48725647e-03 9.99976750e-01 -6.34923170e-03 -1.76919802e-01] [ 7.60645710e-02 6.52004564e-03 9.97081576e-01 1.03646495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322557844 meters Centerline goodness : 0.124498 with order 2 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.17, Z:1.04 [[ 9.97203360e-01 4.21500001e-03 -7.46169662e-02 -8.97555952e+00] [-4.59780757e-03 9.99977133e-01 -4.95926806e-03 -1.67223552e-01] [ 7.45943566e-02 5.28847323e-03 9.97199937e-01 1.03857770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382557844 meters Centerline goodness : 0.183245 with order 2 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.16, Z:1.04 [[ 9.97224096e-01 3.52074257e-03 -7.43754465e-02 -8.97619407e+00] [-3.98968545e-03 9.99973084e-01 -6.15744421e-03 -1.61219841e-01] [ 7.43517658e-02 6.43708637e-03 9.97211301e-01 1.03870742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442557844 meters Centerline goodness : 0.160212 with order 3 Centerline is valid? [False, False] Translation: X:-8.96, Y:-0.15, Z:1.04 [[ 9.97137503e-01 -3.77566335e-03 -7.55151947e-02 -8.95740449e+00] [ 3.38630761e-03 9.99980309e-01 -5.28336974e-03 -1.50407221e-01] [ 7.55336560e-02 5.01252844e-03 9.97130654e-01 1.04257671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502557844 meters Centerline goodness : 0.190804 with order 1 Centerline is valid? [False, False] Translation: X:-8.98, Y:-0.14, Z:1.04 [[ 9.97023444e-01 -1.31497739e-02 -7.59693036e-02 -8.97740907e+00] [ 1.28170524e-02 9.99906020e-01 -4.86560159e-03 -1.43421363e-01] [ 7.60261456e-02 3.87741631e-03 9.97098285e-01 1.04033837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562557844 meters Centerline goodness : 0.095932 with order 1 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.14, Z:1.04 [[ 9.97017309e-01 -5.48051233e-03 -7.69834405e-02 -8.99725444e+00] [ 5.01074432e-03 9.99967638e-01 -6.29403095e-03 -1.42019609e-01] [ 7.70154437e-02 5.88951346e-03 9.97012505e-01 1.03828512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622557844 meters Centerline goodness : 0.320030 with order 1 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.14, Z:1.04 [[ 9.96982171e-01 -1.79934944e-03 -7.76100108e-02 -8.99505706e+00] [ 1.55094329e-03 9.99993481e-01 -3.26085384e-03 -1.38659124e-01] [ 7.76153723e-02 3.13064441e-03 9.96978462e-01 1.03760150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68255784399997 meters Centerline goodness : 0.146662 with order 3 Centerline is valid? [False, False] Translation: X:-9.00, Y:-0.13, Z:1.04 [[ 9.96988040e-01 1.70867909e-03 -7.75366272e-02 -8.99515391e+00] [-1.79751879e-03 9.99997806e-01 -1.07599978e-03 -1.30079029e-01] [ 7.75346185e-02 1.21213245e-03 9.96988924e-01 1.03759011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74255784399998 meters Centerline goodness : 0.094265 with order 1 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.12, Z:1.03 [[ 9.96980738e-01 -3.64236554e-03 -7.75637897e-02 -9.01412528e+00] [ 3.79202762e-03 9.99991222e-01 1.78233850e-03 -1.19107824e-01] [ 7.75566170e-02 -2.07108119e-03 9.96985798e-01 1.03470620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80255784399998 meters Centerline goodness : 0.163861 with order 3 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.11, Z:1.03 [[ 9.96930558e-01 -4.25591934e-03 -7.81751204e-02 -9.01231793e+00] [ 4.30724432e-03 9.99990605e-01 4.87931753e-04 -1.12623241e-01] [ 7.81723093e-02 -8.23153418e-04 9.96939523e-01 1.03436413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86255784399998 meters Centerline goodness : 0.197973 with order 1 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.11, Z:1.04 [[ 9.96963659e-01 -4.53630005e-03 -7.77359959e-02 -9.01419210e+00] [ 4.56182716e-03 9.99989583e-01 1.50806576e-04 -1.10652710e-01] [ 7.77345020e-02 -5.04966853e-04 9.96973968e-01 1.03539378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92255784399998 meters Centerline goodness : 0.196220 with order 3 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.11, Z:1.04 [[ 9.96956404e-01 -4.86658507e-03 -7.78090283e-02 -9.01386383e+00] [ 4.86062353e-03 9.99988152e-01 -2.66005788e-04 -1.09191924e-01] [ 7.78094009e-02 -1.13004220e-04 9.96968246e-01 1.03519004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98255784399998 meters Centerline goodness : 0.102034 with order 2 Centerline is valid? [False, False] Translation: X:-9.01, Y:-0.10, Z:1.03 [[ 9.96913360e-01 -1.16857163e-03 -7.85008686e-02 -9.01186732e+00] [ 1.39607463e-03 9.99994983e-01 2.84327668e-03 -1.04893896e-01] [ 7.84971522e-02 -2.94409358e-03 9.96909991e-01 1.03481013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042557844 meters Centerline goodness : 0.336915 with order 1 Centerline is valid? [False, False] Translation: X:-9.06, Y:-0.09, Z:1.03 [[ 9.96816789e-01 -1.74495122e-03 -7.97072470e-02 -9.06193635e+00] [ 1.85369995e-03 9.99997449e-01 1.29037786e-03 -9.40929588e-02] [ 7.97047921e-02 -1.43402363e-03 9.96817481e-01 1.03499871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102557844 meters Centerline goodness : 0.173735 with order 3 Centerline is valid? [False, False] Translation: X:-9.06, Y:-0.09, Z:1.04 [[ 9.96800581e-01 -2.19991508e-03 -7.98984538e-02 -9.06141192e+00] [ 2.24144139e-03 9.99997395e-01 4.30055013e-04 -8.99307793e-02] [ 7.98972996e-02 -6.07766788e-04 9.96802915e-01 1.03502725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162557844 meters Centerline goodness : 0.225365 with order 3 Centerline is valid? [False, False] Translation: X:-9.06, Y:-0.08, Z:1.04 [[ 9.96833115e-01 -6.84640259e-04 -7.95190056e-02 -9.06359907e+00] [ 8.09421043e-04 9.99998491e-01 1.53697185e-03 -8.35896876e-02] [ 7.95178333e-02 -1.59646880e-03 9.96832165e-01 1.03612935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222557844 meters Centerline goodness : 0.185801 with order 1 Centerline is valid? [False, False] Translation: X:-9.11, Y:-0.08, Z:1.03 [[ 9.96610734e-01 -3.04688138e-03 -8.22056023e-02 -9.10913882e+00] [ 3.03865113e-03 9.99995358e-01 -2.25226815e-04 -8.05292915e-02] [ 8.22059069e-02 -2.53306844e-05 9.96615366e-01 1.03419722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282557844 meters Centerline goodness : 0.185085 with order 1 Centerline is valid? [False, False] Translation: X:-9.11, Y:-0.08, Z:1.03 [[ 9.96650225e-01 -3.29694763e-03 -8.17157243e-02 -9.11035734e+00] [ 3.27843589e-03 9.99994561e-01 -3.60711826e-04 -8.01223764e-02] [ 8.17164691e-02 9.16037589e-05 9.96655613e-01 1.03410910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342557844 meters Centerline goodness : 0.132965 with order 2 Centerline is valid? [False, False] Translation: X:-9.11, Y:-0.08, Z:1.03 [[ 9.96662302e-01 -3.44857928e-03 -8.15620208e-02 -9.11080830e+00] [ 3.42436457e-03 9.99994041e-01 -4.36767750e-04 -8.04263901e-02] [ 8.15630410e-02 1.56011857e-04 9.96668172e-01 1.03412937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402557844 meters Centerline goodness : 0.232301 with order 3 Centerline is valid? [False, False] Translation: X:-9.11, Y:-0.08, Z:1.03 [[ 9.96667396e-01 2.78012168e-04 -8.15722054e-02 -9.11091681e+00] [-4.02914920e-05 9.99995748e-01 2.91586783e-03 -7.84057335e-02] [ 8.15726692e-02 -2.90286373e-03 9.96663169e-01 1.03420912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46255784399997 meters Centerline goodness : 0.116026 with order 3 Centerline is valid? [False, False] Translation: X:-9.13, Y:-0.07, Z:1.03 [[ 9.96710308e-01 -5.46130153e-03 -8.08624506e-02 -9.13445940e+00] [ 5.93036608e-03 9.99966948e-01 5.56174057e-03 -7.07411532e-02] [ 8.08294037e-02 -6.02298809e-03 9.96709753e-01 1.03283642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52255784399998 meters Centerline goodness : 0.107105 with order 2 Centerline is valid? [False, False] Translation: X:-9.13, Y:-0.07, Z:1.03 [[ 9.96685320e-01 -5.81283453e-03 -8.11454491e-02 -9.13310595e+00] [ 6.23114137e-03 9.99968567e-01 4.90274327e-03 -6.78981388e-02] [ 8.11143996e-02 -5.39212101e-03 9.96690212e-01 1.03187697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58255784399998 meters Centerline goodness : 0.183221 with order 1 Centerline is valid? [False, False] Translation: X:-9.18, Y:-0.06, Z:1.03 [[ 9.96442190e-01 -6.27879168e-03 -8.40448611e-02 -9.17773305e+00] [ 6.67762084e-03 9.99967735e-01 4.46516338e-03 -6.44445615e-02] [ 8.40141136e-02 -5.01049689e-03 9.96451968e-01 1.02961026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64255784399998 meters Centerline goodness : 0.162972 with order 3 Centerline is valid? [False, False] Translation: X:-9.16, Y:-0.07, Z:1.03 [[ 9.96572203e-01 1.00309033e-03 -8.27214492e-02 -9.15927252e+00] [-7.68803844e-04 9.99995603e-01 2.86403803e-03 -6.78359330e-02] [ 8.27239583e-02 -2.79062412e-03 9.96568592e-01 1.03273644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70255784399998 meters Centerline goodness : 0.117112 with order 2 Centerline is valid? [False, False] Translation: X:-9.16, Y:-0.07, Z:1.03 [[ 9.96601350e-01 9.38754137e-04 -8.23703124e-02 -9.16070605e+00] [-7.23206965e-04 9.99996236e-01 2.64660362e-03 -6.63435581e-02] [ 8.23724869e-02 -2.57803795e-03 9.96598278e-01 1.03350922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76255784399999 meters Centerline goodness : 0.132374 with order 2 Centerline is valid? [False, False] Translation: X:-9.16, Y:-0.06, Z:1.03 [[ 9.96620790e-01 7.38798632e-04 -8.21368091e-02 -9.16158801e+00] [-5.56214333e-04 9.99997324e-01 2.24578832e-03 -6.45642590e-02] [ 8.21382484e-02 -2.19251366e-03 9.96618533e-01 1.03393346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822557844 meters Centerline goodness : 0.129819 with order 2 Centerline is valid? [False, False] Translation: X:-9.17, Y:-0.06, Z:1.04 [[ 9.96685175e-01 3.25449876e-03 -8.12900348e-02 -9.16614137e+00] [-2.92155097e-03 9.99986852e-01 4.21440871e-03 -6.02326874e-02] [ 8.13026818e-02 -3.96294570e-03 9.96681579e-01 1.03610010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882557844 meters Centerline goodness : 0.162398 with order 3 Centerline is valid? [False, False] Translation: X:-9.17, Y:-0.06, Z:1.04 [[ 9.96692119e-01 3.16994552e-03 -8.12081997e-02 -9.16624996e+00] [-2.83905128e-03 9.99987193e-01 4.18978477e-03 -6.02057096e-02] [ 8.12204410e-02 -3.94537121e-03 9.96688354e-01 1.03590683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942557844 meters Centerline goodness : 0.112141 with order 2 Centerline is valid? [False, False] Translation: X:-9.19, Y:-0.06, Z:1.03 [[ 9.96614250e-01 -7.74764530e-03 -8.18535975e-02 -9.18699818e+00] [ 8.04301434e-03 9.99962277e-01 3.27938744e-03 -5.79188731e-02] [ 8.18251022e-02 -3.92663391e-03 9.96638969e-01 1.03379177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002557844 meters Centerline goodness : 0.153398 with order 3 Centerline is valid? [False, False] Translation: X:-9.19, Y:-0.06, Z:1.03 [[ 9.96595673e-01 -7.66630870e-03 -8.20870960e-02 -9.18625368e+00] [ 7.98253462e-03 9.99961927e-01 3.52482505e-03 -5.90165327e-02] [ 8.20569483e-02 -4.16808848e-03 9.96618926e-01 1.03352251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062557844 meters Centerline goodness : 0.152355 with order 3 Centerline is valid? [False, False] Translation: X:-9.18, Y:-0.06, Z:1.03 [[ 9.96531210e-01 -7.53937786e-03 -8.28776542e-02 -9.18345472e+00] [ 7.87182510e-03 9.99962226e-01 3.68526740e-03 -5.89536351e-02] [ 8.28467389e-02 -4.32488238e-03 9.96552915e-01 1.03247539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122557844 meters Centerline goodness : 0.169667 with order 1 Centerline is valid? [False, False] Translation: X:-9.18, Y:-0.06, Z:1.03 [[ 9.96516013e-01 -7.57326919e-03 -8.30571021e-02 -9.18278747e+00] [ 7.88906936e-03 9.99962844e-01 3.47467150e-03 -5.78031313e-02] [ 8.30277014e-02 -4.11780903e-03 9.96538732e-01 1.03218323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18255784399997 meters Centerline goodness : 0.134386 with order 3 Centerline is valid? [False, False] Translation: X:-9.18, Y:-0.06, Z:1.03 [[ 9.96539654e-01 -7.69388564e-03 -8.27618406e-02 -9.18373640e+00] [ 7.97915339e-03 9.99963309e-01 3.11664666e-03 -5.61007311e-02] [ 8.27348249e-02 -3.76623140e-03 9.96564481e-01 1.03249293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24255784399998 meters Centerline goodness : 0.152316 with order 3 Centerline is valid? [False, False] Translation: X:-9.18, Y:-0.06, Z:1.03 [[ 9.96505111e-01 -7.63599399e-03 -8.31820601e-02 -9.18190092e+00] [ 7.93277713e-03 9.99963293e-01 3.23794900e-03 -5.64576942e-02] [ 8.31542818e-02 -3.88649747e-03 9.96529107e-01 1.03139486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30255784399998 meters Centerline goodness : 0.147674 with order 3 Centerline is valid? [False, False] Translation: X:-9.18, Y:-0.05, Z:1.03 [[ 9.96456092e-01 -7.68772393e-03 -8.37624986e-02 -9.18008158e+00] [ 7.96150157e-03 9.99964000e-01 2.93495978e-03 -5.46761282e-02] [ 8.37369199e-02 -3.59143382e-03 9.96481425e-01 1.03105680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36255784399998 meters Centerline goodness : 0.147189 with order 3 Centerline is valid? [False, False] Translation: X:-9.20, Y:-0.05, Z:1.03 [[ 9.96532805e-01 1.39513133e-03 -8.31890717e-02 -9.20301557e+00] [-1.23615944e-03 9.99997310e-01 1.96244694e-03 -5.34182573e-02] [ 8.31915858e-02 -1.85280780e-03 9.96531850e-01 1.02911053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42255784399998 meters Centerline goodness : 0.160318 with order 3 Centerline is valid? [False, False] Translation: X:-9.21, Y:-0.05, Z:1.03 [[ 9.96656227e-01 3.26450293e-03 -8.16437879e-02 -9.20986731e+00] [-3.01996032e-03 9.99990577e-01 3.11854595e-03 -4.84554399e-02] [ 8.16531991e-02 -2.86155724e-03 9.96656694e-01 1.03192929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48255784399998 meters Centerline goodness : 0.131277 with order 2 Centerline is valid? [False, False] Translation: X:-9.21, Y:-0.05, Z:1.03 [[ 9.96674877e-01 3.14542064e-03 -8.14204879e-02 -9.21056768e+00] [-2.91330354e-03 9.99991347e-01 2.96948578e-03 -4.78114983e-02] [ 8.14291237e-02 -2.72240928e-03 9.96675417e-01 1.03203402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542557844 meters Centerline goodness : 0.180535 with order 1 Centerline is valid? [False, False] Translation: X:-9.23, Y:-0.04, Z:1.03 [[ 9.96758365e-01 -6.32457548e-03 -8.02045028e-02 -9.23490826e+00] [ 6.56551923e-03 9.99974691e-01 2.74075391e-03 -4.24100605e-02] [ 8.01851388e-02 -3.25845359e-03 9.96774662e-01 1.03067528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602557844 meters Centerline goodness : 0.148534 with order 3 Centerline is valid? [False, False] Translation: X:-9.23, Y:-0.04, Z:1.03 [[ 9.96715481e-01 -6.29266604e-03 -8.07381684e-02 -9.23338285e+00] [ 6.55901616e-03 9.99973886e-01 3.03414410e-03 -4.38381562e-02] [ 8.07169672e-02 -3.55374135e-03 9.96730727e-01 1.03040350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662557844 meters Centerline goodness : 0.138049 with order 2 Centerline is valid? [False, False] Translation: X:-9.23, Y:-0.05, Z:1.03 [[ 9.96740112e-01 -6.49034580e-03 -8.04178065e-02 -9.23408327e+00] [ 6.77945687e-03 9.99971499e-01 3.32259478e-03 -4.63835863e-02] [ 8.03939498e-02 -3.85695255e-03 9.96755706e-01 1.03007696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722557844 meters Centerline goodness : 0.162058 with order 1 Centerline is valid? [False, False] Translation: X:-9.24, Y:-0.05, Z:1.03 [[ 9.96808344e-01 -6.47394898e-03 -7.95689210e-02 -9.23697232e+00] [ 6.79256481e-03 9.99969958e-01 3.73425688e-03 -4.87246802e-02] [ 7.95423552e-02 -4.26281547e-03 9.96822372e-01 1.03093295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782557844 meters Centerline goodness : 0.148252 with order 3 Centerline is valid? [False, False] Translation: X:-9.23, Y:-0.05, Z:1.03 [[ 9.96672640e-01 -6.73701251e-03 -8.12296837e-02 -9.23169532e+00] [ 7.11776188e-03 9.99964994e-01 4.39866106e-03 -5.41640701e-02] [ 8.11972064e-02 -4.96219868e-03 9.96685703e-01 1.02937158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842557844 meters Centerline goodness : 0.148752 with order 3 Centerline is valid? [False, False] Translation: X:-9.23, Y:-0.06, Z:1.03 [[ 9.96665030e-01 -6.28083708e-03 -8.13595028e-02 -9.23140119e+00] [ 6.75741856e-03 9.99961579e-01 5.58369952e-03 -6.12366311e-02] [ 8.13213066e-02 -6.11485827e-03 9.96669180e-01 1.02926426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902557844 meters Centerline goodness : 0.161587 with order 3 Centerline is valid? [False, False] Translation: X:-9.23, Y:-0.06, Z:1.03 [[ 9.96731776e-01 -5.75137963e-03 -8.05772227e-02 -9.23412922e+00] [ 6.25853649e-03 9.99962156e-01 6.04290137e-03 -6.23580687e-02] [ 8.05394183e-02 -6.52744730e-03 9.96730051e-01 1.03032090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96255784399997 meters Centerline goodness : 0.103381 with order 2 Centerline is valid? [False, False] Translation: X:-9.25, Y:-0.07, Z:1.03 [[ 9.96714142e-01 2.22223960e-03 -8.09690174e-02 -9.25422284e+00] [-1.83067318e-03 9.99986271e-01 4.90991820e-03 -6.98425460e-02] [ 8.09788167e-02 -4.74555709e-03 9.96704525e-01 1.02709648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02255784399998 meters Centerline goodness : 0.108635 with order 2 Centerline is valid? [False, False] Translation: X:-9.25, Y:-0.07, Z:1.03 [[ 9.96732373e-01 2.61312132e-03 -8.07325721e-02 -9.25497464e+00] [-2.15215447e-03 9.99980885e-01 5.79628924e-03 -7.39655206e-02] [ 8.07461754e-02 -5.60360016e-03 9.96718945e-01 1.02712737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08255784399998 meters Centerline goodness : 0.162127 with order 3 Centerline is valid? [False, False] Translation: X:-9.25, Y:-0.08, Z:1.03 [[ 9.96692434e-01 -1.26264484e-03 -8.12563725e-02 -9.25430402e+00] [ 1.49457678e-03 9.99994981e-01 2.79356378e-03 -7.88286565e-02] [ 8.12524374e-02 -2.90576777e-03 9.96689319e-01 1.02788465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14255784399998 meters Centerline goodness : 0.129972 with order 2 Centerline is valid? [False, False] Translation: X:-9.25, Y:-0.08, Z:1.03 [[ 9.96659581e-01 -9.42550774e-04 -8.16626700e-02 -9.25280451e+00] [ 1.22238253e-03 9.99993552e-01 3.37675171e-03 -8.14680519e-02] [ 8.16589606e-02 -3.46529496e-03 9.96654306e-01 1.02715656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20255784399998 meters Centerline goodness : 0.111332 with order 2 Centerline is valid? [False, False] Translation: X:-9.25, Y:-0.08, Z:1.03 [[ 9.96674359e-01 -7.81486970e-04 -8.14838073e-02 -9.25282941e+00] [ 1.05425986e-03 9.99993984e-01 3.30460132e-03 -8.06913400e-02] [ 8.14807346e-02 -3.37951651e-03 9.96669187e-01 1.02660665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26255784399999 meters Centerline goodness : 0.116061 with order 2 Centerline is valid? [False, False] Translation: X:-9.25, Y:-0.08, Z:1.03 [[ 9.96672458e-01 3.22230373e-03 -8.14470898e-02 -9.25304450e+00] [-2.70879655e-03 9.99975758e-01 6.41450420e-03 -7.68093414e-02] [ 8.14657848e-02 -6.17253608e-03 9.96657025e-01 1.02686592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322557844 meters Centerline goodness : 0.110105 with order 2 Centerline is valid? [False, False] Translation: X:-9.26, Y:-0.07, Z:1.03 [[ 9.96764304e-01 5.09522279e-03 -8.02182121e-02 -9.25793869e+00] [-4.50837451e-03 9.99961749e-01 7.49507006e-03 -7.11724034e-02] [ 8.02533327e-02 -7.10916455e-03 9.96749147e-01 1.02861770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382557844 meters Centerline goodness : 0.170415 with order 1 Centerline is valid? [False, False] Translation: X:-9.24, Y:-0.06, Z:1.03 [[ 9.96759456e-01 -8.63798211e-04 -8.04353160e-02 -9.24148499e+00] [ 1.61943891e-03 9.99955167e-01 9.32962779e-03 -5.77741634e-02] [ 8.04236509e-02 -9.42965480e-03 9.96716167e-01 1.03362627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442557844 meters Centerline goodness : 0.170534 with order 1 Centerline is valid? [False, False] Translation: X:-9.24, Y:-0.05, Z:1.03 [[ 9.96765729e-01 -1.30163518e-03 -8.03516491e-02 -9.24112510e+00] [ 1.98317796e-03 9.99962729e-01 8.40277907e-03 -5.31523104e-02] [ 8.03377170e-02 -8.53495382e-03 9.96731160e-01 1.03284451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502557844 meters Centerline goodness : 0.111084 with order 2 Centerline is valid? [False, False] Translation: X:-9.24, Y:-0.05, Z:1.03 [[ 9.96747041e-01 -2.02312307e-03 -8.05682481e-02 -9.23994525e+00] [ 2.64766015e-03 9.99967267e-01 7.64557487e-03 -5.04032661e-02] [ 8.05501429e-02 -7.83402147e-03 9.96719771e-01 1.03183665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562557844 meters Centerline goodness : 0.143662 with order 3 Centerline is valid? [False, False] Translation: X:-9.24, Y:-0.05, Z:1.03 [[ 9.96688514e-01 -2.39150987e-03 -8.12790698e-02 -9.23804961e+00] [ 3.02600939e-03 9.99965898e-01 7.68414898e-03 -5.12684076e-02] [ 8.12579213e-02 -7.90465425e-03 9.96661761e-01 1.03158994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622557844 meters Centerline goodness : 0.108005 with order 2 Centerline is valid? [False, False] Translation: X:-9.24, Y:-0.05, Z:1.03 [[ 9.96790059e-01 -3.10063751e-03 -7.99997832e-02 -9.24136212e+00] [ 3.70383702e-03 9.99965814e-01 7.39272503e-03 -5.22232689e-02] [ 7.99741262e-02 -7.66530097e-03 9.96767467e-01 1.03154430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68255784399997 meters Centerline goodness : 0.129015 with order 2 Centerline is valid? [False, False] Translation: X:-9.24, Y:-0.05, Z:1.03 [[ 9.96792849e-01 -3.13710529e-03 -7.99635861e-02 -9.24166030e+00] [ 3.74143316e-03 9.99965555e-01 7.40882954e-03 -5.27538626e-02] [ 7.99375894e-02 -7.68424672e-03 9.96770251e-01 1.03177350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74255784399998 meters Centerline goodness : 0.112959 with order 2 Centerline is valid? [False, False] Translation: X:-9.28, Y:-0.05, Z:1.03 [[ 9.96416798e-01 -2.31591372e-04 -8.45784270e-02 -9.28018498e+00] [ 1.04451603e-03 9.99953686e-01 9.56736485e-03 -5.01779590e-02] [ 8.45722941e-02 -9.62142658e-03 9.96370892e-01 1.02744939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80255784399998 meters Centerline goodness : 0.114399 with order 2 Centerline is valid? [False, False] Translation: X:-9.28, Y:-0.05, Z:1.03 [[ 9.96425046e-01 -1.82463598e-04 -8.44813287e-02 -9.28088224e+00] [ 9.85947773e-04 9.99954680e-01 9.46916600e-03 -4.98677554e-02] [ 8.44757723e-02 -9.51860834e-03 9.96380068e-01 1.02812050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86255784399998 meters Centerline goodness : 0.143987 with order 2 Centerline is valid? [False, False] Translation: X:-9.29, Y:-0.05, Z:1.03 [[ 9.96469756e-01 2.28357879e-03 -8.39214555e-02 -9.28506506e+00] [-1.33365033e-03 9.99934429e-01 1.13735735e-02 -4.82653972e-02] [ 8.39419252e-02 -1.12215001e-02 9.96407462e-01 1.03079736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92255784399998 meters Centerline goodness : 0.190664 with order 3 Centerline is valid? [False, False] Translation: X:-9.29, Y:-0.05, Z:1.03 [[ 9.96486983e-01 2.33244914e-03 -8.37153091e-02 -9.28573052e+00] [-1.39737140e-03 9.99936003e-01 1.12265902e-02 -4.73559423e-02] [ 8.37361371e-02 -1.10701696e-02 9.96426470e-01 1.03103238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98255784399998 meters Centerline goodness : 0.301022 with order 2 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.04, Z:1.03 [[ 0.99646461 0.01237994 -0.08309648 -9.31114403] [-0.01152176 0.99987531 0.01079913 -0.04491334] [ 0.08321981 -0.00980353 0.99648299 1.03014499] [ 0. 0. 0. 1. ]] SLAMing on 218.042557844 meters Centerline goodness : 0.178236 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.04, Z:1.03 [[ 0.99645336 0.01648897 -0.08251559 -9.31242679] [-0.01538211 0.99978323 0.01403181 -0.04072141] [ 0.08272907 -0.01271278 0.99649099 1.03013823] [ 0. 0. 0. 1. ]] SLAMing on 218.102557844 meters Centerline goodness : 0.155546 with order 2 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.03, Z:1.03 [[ 0.99649483 0.01634226 -0.08204255 -9.31321219] [-0.01534346 0.99980048 0.01278989 -0.03331257] [ 0.08223519 -0.01148624 0.99654676 1.02965834] [ 0. 0. 0. 1. ]] SLAMing on 218.162557844 meters Centerline goodness : 0.108540 with order 2 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.03, Z:1.03 [[ 0.9964521 0.02040602 -0.08165053 -9.31450495] [-0.01914211 0.99968499 0.01623257 -0.03016515] [ 0.08195605 -0.01461201 0.99652882 1.03025742] [ 0. 0. 0. 1. ]] SLAMing on 218.222557844 meters Centerline goodness : 0.105783 with order 2 Centerline is valid? [False, False] Translation: X:-9.33, Y:-0.02, Z:1.03 [[ 0.9964303 0.01210862 -0.08354668 -9.33272156] [-0.01072527 0.99979819 0.01698685 -0.02111816] [ 0.0837355 -0.01603015 0.99635907 1.0263163 ] [ 0. 0. 0. 1. ]] SLAMing on 218.282557844 meters Centerline goodness : 0.177778 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.02, Z:1.02 [[ 9.96512757e-01 4.14584250e-03 -8.33374870e-02 -9.35250420e+00] [-2.63075405e-03 9.99829414e-01 1.82817525e-02 -1.59815436e-02] [ 8.33990640e-02 -1.79987591e-02 9.96353673e-01 1.02288671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342557844 meters Centerline goodness : 0.186023 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.02, Z:1.02 [[ 9.96494768e-01 4.27467101e-03 -8.35458266e-02 -9.35176886e+00] [-2.73786297e-03 9.99825099e-01 1.85007116e-02 -1.69914858e-02] [ 8.36102988e-02 -1.82071253e-02 9.96332183e-01 1.02263986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402557844 meters Centerline goodness : 0.103818 with order 2 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.02, Z:1.02 [[ 9.96436893e-01 4.72231787e-03 -8.42093667e-02 -9.34978052e+00] [-3.16847372e-03 9.99822426e-01 1.85762613e-02 -1.61139757e-02] [ 8.42821363e-02 -1.82432569e-02 9.96274914e-01 1.02222984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46255784399997 meters Centerline goodness : 0.299504 with order 3 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 9.96394651e-01 9.43737263e-03 -8.43127197e-02 -9.34953167e+00] [-7.58390430e-03 9.99723081e-01 2.22765624e-02 -1.31770799e-02] [ 8.44996041e-02 -2.15568280e-02 9.96190303e-01 1.02230674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52255784399998 meters Centerline goodness : 0.391634 with order 2 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 9.96431412e-01 1.01164244e-02 -8.37979667e-02 -9.35081434e+00] [-8.30590575e-03 9.99725087e-01 2.19262825e-02 -9.93405643e-03] [ 8.39967452e-02 -2.11520186e-02 9.96241506e-01 1.02183978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58255784399998 meters Centerline goodness : 0.256980 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 9.96322649e-01 1.07288379e-02 -8.50063052e-02 -9.34721292e+00] [-8.87255745e-03 9.99714516e-01 2.21847666e-02 -9.34952483e-03] [ 8.52200540e-02 -2.13489621e-02 9.96133407e-01 1.02102753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64255784399998 meters Centerline goodness : 0.183822 with order 2 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 9.96299879e-01 1.10024587e-02 -8.52378818e-02 -9.34653578e+00] [-9.16224982e-03 9.99717079e-01 2.19503046e-02 -7.68859309e-03] [ 8.54552735e-02 -2.10881150e-02 9.96118812e-01 1.02070288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70255784399998 meters Centerline goodness : 0.099064 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 9.96359722e-01 1.11844448e-02 -8.45116078e-02 -9.34877101e+00] [-9.36358118e-03 9.99716065e-01 2.19114751e-02 -6.99387914e-03] [ 8.47326797e-02 -2.10403800e-02 9.96181547e-01 1.02110098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76255784399999 meters Centerline goodness : 0.228893 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 9.96398205e-01 1.14817865e-02 -8.40165828e-02 -9.34961844e+00] [-9.63367805e-03 9.99703357e-01 2.23694057e-02 -9.03015592e-03] [ 8.42485006e-02 -2.14794469e-02 9.96213242e-01 1.02040790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822557844 meters Centerline goodness : 0.192753 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 0.99644377 0.01169737 -0.0834445 -9.35175846] [-0.00983807 0.99969486 0.02265831 -0.0102368 ] [ 0.08368408 -0.0217568 0.99625479 1.02130723] [ 0. 0. 0. 1. ]] SLAMing on 218.882557844 meters Centerline goodness : 0.240192 with order 3 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 0.99643753 0.01235525 -0.08342423 -9.35208977] [-0.01048496 0.99968461 0.02281999 -0.009476 ] [ 0.08367986 -0.021864 0.9962528 1.02148743] [ 0. 0. 0. 1. ]] SLAMing on 218.942557844 meters Centerline goodness : 0.148501 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 9.96477469e-01 1.27265199e-02 -8.28896269e-02 -9.35358711e+00] [-1.08852728e-02 9.99684706e-01 2.26274179e-02 -7.17195333e-03] [ 8.31514606e-02 -2.16454359e-02 9.96301817e-01 1.02150529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002557844 meters SLAMing on 219.062557844 meters Centerline goodness : 0.162898 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.00, Z:1.02 [[ 9.96387982e-01 1.32271500e-02 -8.38810574e-02 -9.35004781e+00] [-1.14016496e-02 9.99688426e-01 2.22048008e-02 -2.95224868e-03] [ 8.41486285e-02 -2.11682142e-02 9.96228345e-01 1.01969414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122557844 meters Centerline goodness : 0.164296 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.00, Z:1.02 [[ 9.96389359e-01 1.32031013e-02 -8.38684861e-02 -9.35035858e+00] [-1.13772078e-02 9.99688552e-01 2.22116859e-02 -2.83707436e-03] [ 8.41356286e-02 -2.11772983e-02 9.96229250e-01 1.02009487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18255784399997 meters Centerline goodness : 0.104199 with order 2 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.00, Z:1.02 [[ 9.96402456e-01 1.31437699e-02 -8.37220850e-02 -9.35076944e+00] [-1.13280343e-02 9.99691012e-01 2.21259116e-02 -2.46708610e-03] [ 8.39870337e-02 -2.10979061e-02 9.96243473e-01 1.02019087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24255784399998 meters Centerline goodness : 0.159058 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.00, Z:1.02 [[ 9.96352573e-01 1.30607269e-02 -8.43265488e-02 -9.34819009e+00] [-1.12445987e-02 9.99695260e-01 2.19760209e-02 -2.28101271e-03] [ 8.45878740e-02 -2.09476467e-02 9.96195808e-01 1.01867186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30255784399998 meters Centerline goodness : 0.175304 with order 1 Centerline is valid? [False, False] Translation: X:-9.34, Y:-0.00, Z:1.02 [[ 9.96245642e-01 1.33935795e-02 -8.55291368e-02 -9.34456047e+00] [-1.15382201e-02 9.99688067e-01 2.21503475e-02 -2.43568192e-03] [ 8.57991299e-02 -2.10803332e-02 9.96089418e-01 1.01780980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36255784399998 meters Centerline goodness : 0.170779 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.00, Z:1.02 [[ 9.96281790e-01 1.35820631e-02 -8.50771532e-02 -9.34667023e+00] [-1.17177915e-02 9.99681000e-01 2.23739050e-02 -3.09241268e-03] [ 8.53538974e-02 -2.12937978e-02 9.96123128e-01 1.01920104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42255784399998 meters Centerline goodness : 0.173953 with order 1 Centerline is valid? [False, False] Translation: X:-9.32, Y:-0.01, Z:1.02 [[ 9.96085782e-01 2.22819507e-02 -8.55372940e-02 -9.32440888e+00] [-2.04863607e-02 9.99552157e-01 2.18126994e-02 -7.42658077e-03] [ 8.59850163e-02 -1.99749719e-02 9.96096169e-01 1.02163866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48255784399998 meters Centerline goodness : 0.164337 with order 1 Centerline is valid? [False, False] Translation: X:-9.37, Y:-0.01, Z:1.02 [[ 0.99634406 0.02284128 -0.0823213 -9.37001846] [-0.02110878 0.99953828 0.021855 -0.00989217] [ 0.08278249 -0.0200374 0.99636618 1.01784263] [ 0. 0. 0. 1. ]] SLAMing on 219.542557844 meters Centerline goodness : 0.164714 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 0.99673593 0.01483072 -0.07935703 -9.35144367] [-0.01303141 0.99964721 0.02314375 -0.01188714] [ 0.07967227 -0.02203408 0.99657756 1.02090842] [ 0. 0. 0. 1. ]] SLAMing on 219.602557844 meters Centerline goodness : 0.153757 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.01, Z:1.02 [[ 9.96778981e-01 1.07160435e-02 -7.94784804e-02 -9.35115878e+00] [-9.19146851e-03 9.99767151e-01 1.95233429e-02 -1.34251861e-02] [ 7.96691868e-02 -1.87299339e-02 9.96645378e-01 1.02072173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662557844 meters Centerline goodness : 0.170708 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-0.02, Z:1.02 [[ 9.97031340e-01 1.54750822e-04 -7.69966409e-02 -9.33184182e+00] [ 1.32662817e-03 9.99815013e-01 1.91880066e-02 -1.59524331e-02] [ 7.69853669e-02 -1.92331898e-02 9.96846697e-01 1.02208829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722557844 meters Centerline goodness : 0.290374 with order 1 Centerline is valid? [False, False] Translation: X:-9.34, Y:-0.02, Z:1.02 [[ 9.97065888e-01 -3.08728741e-03 -7.64858405e-02 -9.33535008e+00] [ 4.38506807e-03 9.99849162e-01 1.68054643e-02 -2.08336196e-02] [ 7.64224203e-02 -1.70915508e-02 9.96929031e-01 1.02453381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782557844 meters Centerline goodness : 0.091950 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-0.03, Z:1.02 [[ 9.96957804e-01 -7.08234693e-03 -7.76207317e-02 -9.33161891e+00] [ 8.20061966e-03 9.99866995e-01 1.40976103e-02 -2.70858791e-02] [ 7.75105636e-02 -1.46912607e-02 9.96883283e-01 1.02380703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842557844 meters Centerline goodness : 0.392502 with order 1 Centerline is valid? [False, False] Translation: X:-9.38, Y:-0.03, Z:1.02 [[ 9.96641244e-01 -8.54329957e-03 -8.14447202e-02 -9.37511322e+00] [ 9.64309240e-03 9.99867432e-01 1.31197774e-02 -3.13796022e-02] [ 8.13218371e-02 -1.38610902e-02 9.96591506e-01 1.02123819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902557844 meters Centerline goodness : 0.388703 with order 1 Centerline is valid? [False, False] Translation: X:-9.38, Y:-0.04, Z:1.02 [[ 0.99661759 -0.01216539 -0.08127349 -9.37513612] [ 0.01305627 0.99986027 0.01043903 -0.03612641] [ 0.08113514 -0.01146485 0.99663717 1.02094245] [ 0. 0. 0. 1. ]] SLAMing on 219.96255784399997 meters Centerline goodness : 0.096940 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.04, Z:1.02 [[ 9.96767658e-01 -6.98498451e-03 -8.00340299e-02 -9.35278049e+00] [ 7.61509062e-03 9.99942348e-01 7.57045756e-03 -4.09953253e-02] [ 7.99765363e-02 -8.15545365e-03 9.96763383e-01 1.02256280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02255784399998 meters Centerline goodness : 0.091413 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.05, Z:1.02 [[ 9.96689136e-01 -7.08530302e-03 -8.09973106e-02 -9.35027062e+00] [ 7.77954775e-03 9.99935633e-01 8.25883926e-03 -4.56214807e-02] [ 8.09335807e-02 -8.86161782e-03 9.96680103e-01 1.02255591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08255784399998 meters Centerline goodness : 0.325078 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.05, Z:1.02 [[ 9.96674140e-01 -1.11430934e-02 -8.07247850e-02 -9.35058759e+00] [ 1.15823860e-02 9.99920543e-01 4.97563008e-03 -4.92107913e-02] [ 8.06629269e-02 -5.89406746e-03 9.96724010e-01 1.02207719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14255784399998 meters Centerline goodness : 0.360242 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.05, Z:1.02 [[ 9.96694706e-01 -1.11932689e-02 -8.04634952e-02 -9.35156602e+00] [ 1.16713288e-02 9.99916907e-01 5.47344765e-03 -5.20327064e-02] [ 8.03955435e-02 -6.39447220e-03 9.96742528e-01 1.02243441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20255784399998 meters Centerline goodness : 0.191482 with order 3 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.06, Z:1.02 [[ 9.96551441e-01 -1.15412795e-02 -8.21706979e-02 -9.34634481e+00] [ 1.20610817e-02 9.99910253e-01 5.83230588e-03 -5.53140682e-02] [ 8.20960111e-02 -6.80326034e-03 9.96601204e-01 1.02095872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26255784399999 meters Centerline goodness : 0.257618 with order 3 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.06, Z:1.02 [[ 9.96539852e-01 -1.14865223e-02 -8.23187887e-02 -9.34584746e+00] [ 1.20165709e-02 9.99910117e-01 5.94641751e-03 -5.58154724e-02] [ 8.22430860e-02 -6.91503158e-03 9.96588309e-01 1.02078767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322557844 meters Centerline goodness : 0.404642 with order 3 Centerline is valid? [False, False] Translation: X:-9.33, Y:-0.06, Z:1.02 [[ 9.96687483e-01 -3.90083858e-03 -8.12332697e-02 -9.32857808e+00] [ 4.28030573e-03 9.99980725e-01 4.49771078e-03 -5.96338750e-02] [ 8.12141590e-02 -4.83051526e-03 9.96684969e-01 1.02398087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382557844 meters Centerline goodness : 0.160988 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-0.06, Z:1.02 [[ 9.96684894e-01 -3.88990540e-03 -8.12655557e-02 -9.32836611e+00] [ 4.27308585e-03 9.99980556e-01 4.54178102e-03 -5.93614245e-02] [ 8.12463085e-02 -4.87397923e-03 9.96682137e-01 1.02371999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442557844 meters Centerline goodness : 0.401508 with order 3 Centerline is valid? [False, False] Translation: X:-9.33, Y:-0.06, Z:1.02 [[ 9.96706975e-01 -3.93065129e-03 -8.09923207e-02 -9.32928661e+00] [ 4.32491897e-03 9.99979635e-01 4.69310740e-03 -6.02613707e-02] [ 8.09722243e-02 -5.02793811e-03 9.96703676e-01 1.02395938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502557844 meters SLAMing on 220.562557844 meters Centerline goodness : 0.093255 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.06, Z:1.03 [[ 9.96913955e-01 -1.41574980e-02 -7.72148440e-02 -9.31252832e+00] [ 1.45937883e-02 9.99880555e-01 5.08897349e-03 -5.77402063e-02] [ 7.71335739e-02 -6.20012578e-03 9.97001490e-01 1.02640416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622557844 meters Centerline goodness : 0.231836 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.06, Z:1.02 [[ 9.96891640e-01 -1.41052770e-02 -7.75119314e-02 -9.31075131e+00] [ 1.45520570e-02 9.99880580e-01 5.20218548e-03 -5.79800415e-02] [ 7.74292967e-02 -6.31397326e-03 9.96977852e-01 1.02489581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68255784399997 meters Centerline goodness : 0.093914 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.06, Z:1.03 [[ 9.96902693e-01 -1.40670661e-02 -7.73766024e-02 -9.31128995e+00] [ 1.45226248e-02 9.99880346e-01 5.32797796e-03 -5.86429594e-02] [ 7.72923950e-02 -6.43518693e-03 9.96987700e-01 1.02514512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74255784399998 meters Centerline goodness : 0.185659 with order 3 Centerline is valid? [False, False] Translation: X:-9.29, Y:-0.07, Z:1.03 [[ 9.97010219e-01 -6.42723865e-03 -7.70020394e-02 -9.29402016e+00] [ 6.81261222e-03 9.99965545e-01 4.74307961e-03 -6.60074352e-02] [ 7.69689014e-02 -5.25348388e-03 9.97019653e-01 1.02804400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80255784399998 meters Centerline goodness : 0.112838 with order 2 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.08, Z:1.02 [[ 9.97162610e-01 -1.52391966e-03 -7.52622599e-02 -9.31223484e+00] [ 1.73119799e-03 9.99994886e-01 2.68891796e-03 -7.58632982e-02] [ 7.52577774e-02 -2.81158232e-03 9.97160149e-01 1.02401857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86255784399998 meters Centerline goodness : 0.114628 with order 2 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.08, Z:1.02 [[ 9.97113296e-01 -1.26812076e-03 -7.59175055e-02 -9.31006896e+00] [ 1.51940453e-03 9.99993557e-01 3.25229164e-03 -7.84923070e-02] [ 7.59128920e-02 -3.35825264e-03 9.97108798e-01 1.02334842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92255784399998 meters Centerline goodness : 0.095476 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.08, Z:1.02 [[ 9.97103607e-01 -1.18445040e-03 -7.60459930e-02 -9.30987725e+00] [ 1.42967844e-03 9.99993952e-01 3.17037472e-03 -7.78138381e-02] [ 7.60417780e-02 -3.26991339e-03 9.97099271e-01 1.02355974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98255784399998 meters Centerline goodness : 0.094822 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.08, Z:1.02 [[ 9.97166282e-01 -8.43875731e-04 -7.52242869e-02 -9.31240970e+00] [ 1.08685559e-03 9.99994324e-01 3.18919352e-03 -7.67093981e-02] [ 7.52211687e-02 -3.26191418e-03 9.97161539e-01 1.02413893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042557844 meters Centerline goodness : 0.092058 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.08, Z:1.02 [[ 9.97198433e-01 -1.02860994e-03 -7.47945713e-02 -9.31413782e+00] [ 1.25871079e-03 9.99994619e-01 3.02936461e-03 -7.67151366e-02] [ 7.47910528e-02 -3.11502237e-03 9.97194362e-01 1.02488915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102557844 meters Centerline goodness : 0.092661 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:-0.08, Z:1.02 [[ 9.97185643e-01 -1.03601755e-03 -7.49647941e-02 -9.31369454e+00] [ 1.27877711e-03 9.99994093e-01 3.19038762e-03 -7.72907760e-02] [ 7.49610459e-02 -3.27727199e-03 9.97181077e-01 1.02475644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162557844 meters Centerline goodness : 0.400132 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:-0.08, Z:1.02 [[ 9.96864123e-01 -3.87748805e-03 -7.90372386e-02 -9.35285162e+00] [ 4.04142257e-03 9.99990001e-01 1.91428612e-03 -7.88673911e-02] [ 7.90290257e-02 -2.22770604e-03 9.96869826e-01 1.02144878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222557844 meters Centerline goodness : 0.109656 with order 2 Centerline is valid? [False, False] Translation: X:-9.36, Y:-0.08, Z:1.02 [[ 9.96947931e-01 -4.82706081e-03 -7.79199798e-02 -9.35575835e+00] [ 4.96679802e-03 9.99986386e-01 1.59963997e-03 -8.02114120e-02] [ 7.79111974e-02 -1.98177056e-03 9.96958333e-01 1.02137740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282557844 meters Centerline goodness : 0.167164 with order 1 Centerline is valid? [False, False] Translation: X:-9.36, Y:-0.08, Z:1.02 [[ 9.96976438e-01 -4.84191905e-03 -7.75534528e-02 -9.35716361e+00] [ 4.97669773e-03 9.99986423e-01 1.54470328e-03 -7.96827523e-02] [ 7.75449205e-02 -1.92599286e-03 9.96986999e-01 1.02209649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342557844 meters Centerline goodness : 0.287275 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:-0.08, Z:1.02 [[ 9.96841997e-01 2.33659672e-03 -7.93761500e-02 -9.33491474e+00] [-2.33192738e-03 9.99997270e-01 1.51521496e-04 -8.36531472e-02] [ 7.93762873e-02 3.40564261e-05 9.96844724e-01 1.02419625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402557844 meters Centerline goodness : 0.110763 with order 2 Centerline is valid? [False, False] Translation: X:-9.34, Y:-0.08, Z:1.02 [[ 9.96866388e-01 2.24087184e-03 -7.90720165e-02 -9.33581441e+00] [-2.24759093e-03 9.99997474e-01 4.02576900e-06 -8.30712297e-02] [ 7.90718258e-02 1.73708393e-04 9.96868906e-01 1.02428924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46255784399997 meters Centerline goodness : 0.167301 with order 1 Centerline is valid? [False, False] Translation: X:-9.36, Y:-0.08, Z:1.02 [[ 9.96784468e-01 -6.36134259e-03 -7.98765196e-02 -9.35672547e+00] [ 6.45659137e-03 9.99978720e-01 9.34226638e-04 -7.82842407e-02] [ 7.98688769e-02 -1.44695265e-03 9.96804328e-01 1.02255097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52255784399998 meters Centerline goodness : 0.159956 with order 1 Centerline is valid? [False, False] Translation: X:-9.36, Y:-0.08, Z:1.02 [[ 9.96745969e-01 -6.45861041e-03 -8.03477358e-02 -9.35524383e+00] [ 6.59555002e-03 9.99977214e-01 1.43905307e-03 -8.13194914e-02] [ 8.03366107e-02 -1.96430786e-03 9.96765855e-01 1.02205565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58255784399998 meters Centerline goodness : 0.428162 with order 3 Centerline is valid? [False, False] Translation: X:-9.37, Y:-0.09, Z:1.02 [[ 9.96661276e-01 1.54544473e-03 -8.16327968e-02 -9.37452971e+00] [-1.53302359e-03 9.99998802e-01 2.14835626e-04 -8.68629245e-02] [ 8.16330310e-02 -8.89733460e-05 9.96662451e-01 1.01894117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64255784399998 meters Centerline goodness : 0.114380 with order 2 Centerline is valid? [False, False] Translation: X:-9.38, Y:-0.09, Z:1.02 [[ 9.96679325e-01 2.04866595e-03 -8.14010174e-02 -9.37587327e+00] [-1.97636042e-03 9.99997578e-01 9.68825932e-04 -8.97138679e-02] [ 8.14028050e-02 -8.04731027e-04 9.96680960e-01 1.01999072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70255784399998 meters Centerline goodness : 0.161772 with order 1 Centerline is valid? [False, False] Translation: X:-9.38, Y:-0.09, Z:1.02 [[ 9.96707118e-01 2.30978278e-03 -8.10529845e-02 -9.37708334e+00] [-2.18551043e-03 9.99996296e-01 1.62190728e-03 -9.31792575e-02] [ 8.10564306e-02 -1.43942439e-03 9.96708474e-01 1.02030333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76255784399999 meters Centerline goodness : 0.090714 with order 1 Centerline is valid? [False, False] Translation: X:-9.38, Y:-0.10, Z:1.02 [[ 9.96749185e-01 2.55596922e-03 -8.05265691e-02 -9.37881190e+00] [-2.37635197e-03 9.99994471e-01 2.32629060e-03 -9.67652857e-02] [ 8.05320698e-02 -2.12736879e-03 9.96749748e-01 1.02067539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822557844 meters Centerline goodness : 0.110908 with order 1 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.10, Z:1.02 [[ 9.96605420e-01 1.71994945e-03 -8.23084367e-02 -9.42658984e+00] [-1.51786913e-03 9.99995679e-01 2.51766924e-03 -9.89742745e-02] [ 8.23124113e-02 -2.38418937e-03 9.96603724e-01 1.01904495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882557844 meters Centerline goodness : 0.314093 with order 1 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.10, Z:1.02 [[ 9.96610635e-01 1.97881660e-03 -8.22394445e-02 -9.42689368e+00] [-1.69974886e-03 9.99992558e-01 3.46322963e-03 -1.03719147e-01] [ 8.22456856e-02 -3.31170508e-03 9.96606582e-01 1.01900832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942557844 meters Centerline goodness : 0.214727 with order 3 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.10, Z:1.02 [[ 9.96582522e-01 2.06580272e-03 -8.25772901e-02 -9.42566486e+00] [-1.77274771e-03 9.99991869e-01 3.62201931e-03 -1.04259409e-01] [ 8.25841010e-02 -3.46325244e-03 9.96578081e-01 1.01845563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002557844 meters Centerline goodness : 0.236104 with order 3 Centerline is valid? [False, False] Translation: X:-9.42, Y:-0.10, Z:1.02 [[ 9.96559753e-01 1.91070581e-03 -8.28553470e-02 -9.42458965e+00] [-1.63795829e-03 9.99993015e-01 3.35970053e-03 -1.03198040e-01] [ 8.28611876e-02 -3.21242872e-03 9.96555921e-01 1.01792920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062557844 meters Centerline goodness : 0.162238 with order 1 Centerline is valid? [False, False] Translation: X:-9.42, Y:-0.10, Z:1.02 [[ 9.96572906e-01 1.64819917e-03 -8.27026397e-02 -9.42499561e+00] [-1.42649176e-03 9.99995229e-01 2.73979496e-03 -1.00034011e-01] [ 8.27067608e-02 -2.61243079e-03 9.96570503e-01 1.01796221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122557844 meters Centerline goodness : 0.156844 with order 1 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.10, Z:1.02 [[ 9.96573632e-01 1.35262080e-03 -8.26992546e-02 -9.42502792e+00] [-1.17958120e-03 9.99997012e-01 2.14121920e-03 -9.72744527e-02] [ 8.27019037e-02 -2.03633211e-03 9.96572249e-01 1.01802752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18255784399997 meters Centerline goodness : 0.165746 with order 1 Centerline is valid? [False, False] Translation: X:-9.42, Y:-0.09, Z:1.02 [[ 9.96553791e-01 9.35623617e-04 -8.29437547e-02 -9.42386723e+00] [-8.26714114e-04 9.99998751e-01 1.34738732e-03 -9.33705347e-02] [ 8.29449117e-02 -1.27417316e-03 9.96553319e-01 1.01729652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24255784399998 meters Centerline goodness : 0.158389 with order 1 Centerline is valid? [False, False] Translation: X:-9.42, Y:-0.09, Z:1.02 [[ 9.96549819e-01 5.89126964e-04 -8.29946461e-02 -9.42347595e+00] [-5.36458818e-04 9.99999640e-01 6.56895552e-04 -9.01719643e-02] [ 8.29950033e-02 -6.10105934e-04 9.96549777e-01 1.01700087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30255784399998 meters Centerline goodness : 0.159774 with order 1 Centerline is valid? [False, False] Translation: X:-9.45, Y:-0.08, Z:1.02 [[ 9.96411993e-01 -5.01266431e-03 -8.44867684e-02 -9.44557636e+00] [ 5.31801035e-03 9.99980115e-01 3.38946159e-03 -8.01937019e-02] [ 8.44680981e-02 -3.82660168e-03 9.96418836e-01 1.01597207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36255784399998 meters Centerline goodness : 0.157599 with order 1 Centerline is valid? [False, False] Translation: X:-9.45, Y:-0.08, Z:1.02 [[ 9.96422371e-01 -5.24078927e-03 -8.43504205e-02 -9.44617092e+00] [ 5.51051440e-03 9.99980421e-01 2.96516791e-03 -7.84100783e-02] [ 8.43332292e-02 -3.41937384e-03 9.96431741e-01 1.01632038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42255784399998 meters Centerline goodness : 0.160458 with order 1 Centerline is valid? [False, False] Translation: X:-9.45, Y:-0.08, Z:1.02 [[ 9.96414878e-01 -5.37261232e-03 -8.44306040e-02 -9.44570653e+00] [ 5.64845660e-03 9.99979461e-01 3.02857259e-03 -7.88799675e-02] [ 8.44125986e-02 -3.49461739e-03 9.96424759e-01 1.01582868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48255784399998 meters Centerline goodness : 0.110373 with order 2 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.08, Z:1.02 [[ 9.96521858e-01 1.91356736e-03 -8.33098088e-02 -9.42764070e+00] [-1.83353505e-03 9.99997781e-01 1.03715711e-03 -8.33583876e-02] [ 8.33116087e-02 -8.80798278e-04 9.96523156e-01 1.01909150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542557844 meters Centerline goodness : 0.157890 with order 1 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.08, Z:1.02 [[ 9.96516162e-01 6.12622558e-03 -8.31745635e-02 -9.42829794e+00] [-5.76752929e-03 9.99973006e-01 4.55216170e-03 -8.03059077e-02] [ 8.32002059e-02 -4.05659098e-03 9.96524596e-01 1.01966715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602557844 meters Centerline goodness : 0.254419 with order 1 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.07, Z:1.02 [[ 9.96584959e-01 6.02261970e-03 -8.23537943e-02 -9.43064187e+00] [-5.75069108e-03 9.99977203e-01 3.53875826e-03 -7.49540172e-02] [ 8.23732295e-02 -3.05308203e-03 9.96596874e-01 1.02014847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662557844 meters Centerline goodness : 0.131266 with order 2 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.07, Z:1.02 [[ 9.96610229e-01 5.83281654e-03 -8.20611317e-02 -9.43182915e+00] [-5.58772667e-03 9.99979217e-01 3.21601424e-03 -7.35479839e-02] [ 8.20781846e-02 -2.74657751e-03 9.96622109e-01 1.02072342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722557844 meters Centerline goodness : 0.153641 with order 1 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.07, Z:1.02 [[ 9.96628204e-01 5.32840192e-03 -8.18769291e-02 -9.43241140e+00] [-5.09185226e-03 9.99982239e-01 3.09762122e-03 -7.42110194e-02] [ 8.18919802e-02 -2.67027145e-03 9.96637634e-01 1.02076106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782557844 meters Centerline goodness : 0.151126 with order 1 Centerline is valid? [False, False] Translation: X:-9.43, Y:-0.08, Z:1.02 [[ 9.96631739e-01 4.74677196e-03 -8.18696823e-02 -9.43251379e+00] [-4.50032471e-03 9.99984771e-01 3.19450653e-03 -7.64359249e-02] [ 8.18835991e-02 -2.81530644e-03 9.96637923e-01 1.02062560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842557844 meters Centerline goodness : 0.164939 with order 3 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.07, Z:1.02 [[ 9.96375143e-01 4.91650275e-03 -8.49258596e-02 -9.47666409e+00] [-4.64301775e-03 9.99983381e-01 3.41749345e-03 -7.34248663e-02] [ 8.49412503e-02 -3.01079325e-03 9.96381412e-01 1.01773388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902557844 meters Centerline goodness : 0.156107 with order 1 Centerline is valid? [False, False] Translation: X:-9.46, Y:-0.07, Z:1.02 [[ 9.96456580e-01 1.42035047e-02 -8.29008121e-02 -9.45765172e+00] [-1.40068476e-02 9.99897538e-01 2.95333623e-03 -7.49839151e-02] [ 8.29342657e-02 -1.78169228e-03 9.96553427e-01 1.02041419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96255784399997 meters Centerline goodness : 0.250152 with order 1 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.07, Z:1.02 [[ 9.96073057e-01 1.08760532e-02 -8.78645346e-02 -9.47728848e+00] [-1.03350923e-02 9.99924748e-01 6.60935348e-03 -6.77091552e-02] [ 8.79298063e-02 -5.67531085e-03 9.96110506e-01 1.01969205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02255784399998 meters Centerline goodness : 0.110414 with order 2 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.06, Z:1.02 [[ 9.96076981e-01 1.06658056e-02 -8.78458240e-02 -9.47729606e+00] [-1.01827693e-02 9.99930482e-01 5.94498455e-03 -6.43463007e-02] [ 8.79031252e-02 -5.02714850e-03 9.96116343e-01 1.01973215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08255784399998 meters Centerline goodness : 0.110424 with order 2 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.06, Z:1.02 [[ 9.96083960e-01 1.03847800e-02 -8.78003453e-02 -9.47767236e+00] [-9.94347063e-03 9.99935644e-01 5.46216615e-03 -6.19957725e-02] [ 8.78514182e-02 -4.56773594e-03 9.96123117e-01 1.02008243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14255784399998 meters Centerline goodness : 0.152878 with order 1 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.06, Z:1.02 [[ 9.96074822e-01 1.01167343e-02 -8.79352061e-02 -9.47708835e+00] [-9.69668047e-03 9.99939451e-01 5.20272202e-03 -6.12295050e-02] [ 8.79825162e-02 -4.32962082e-03 9.96112610e-01 1.01972004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20255784399998 meters Centerline goodness : 0.120060 with order 2 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.06, Z:1.02 [[ 9.96090692e-01 9.86000049e-03 -8.77844757e-02 -9.47757143e+00] [-9.49749424e-03 9.99944563e-01 4.54622844e-03 -5.76279001e-02] [ 8.78244350e-02 -3.69472328e-03 9.96129117e-01 1.01996535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26255784399999 meters Centerline goodness : 0.118549 with order 2 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.05, Z:1.02 [[ 9.96087839e-01 9.58266932e-03 -8.78475386e-02 -9.47704138e+00] [-9.28697330e-03 9.99949753e-01 3.77411436e-03 -5.38091648e-02] [ 8.78792906e-02 -2.94351167e-03 9.96126782e-01 1.01957887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322557844 meters Centerline goodness : 0.152004 with order 1 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.04, Z:1.02 [[ 9.96122177e-01 1.22327025e-02 -8.71261731e-02 -9.48117178e+00] [-1.18341913e-02 9.99917023e-01 5.08902361e-03 -4.46169466e-02] [ 8.71811961e-02 -4.03822148e-03 9.96184286e-01 1.02224448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382557844 meters Centerline goodness : 0.155174 with order 1 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.04, Z:1.02 [[ 9.96072789e-01 1.58836894e-02 -8.71017091e-02 -9.48067661e+00] [-1.52823361e-02 9.99854588e-01 7.56656228e-03 -3.71604019e-02] [ 8.72092284e-02 -6.20572919e-03 9.96170688e-01 1.02183977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442557844 meters Centerline goodness : 0.119832 with order 2 Centerline is valid? [False, False] Translation: X:-9.50, Y:-0.03, Z:1.02 [[ 9.96398478e-01 1.00796615e-02 -8.41930711e-02 -9.49697491e+00] [-9.47489350e-03 9.99926385e-01 7.57960293e-03 -2.51774853e-02] [ 8.42632731e-02 -6.75458444e-03 9.96420632e-01 1.01834478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502557844 meters Centerline goodness : 0.245565 with order 1 Centerline is valid? [False, False] Translation: X:-9.50, Y:-0.02, Z:1.02 [[ 9.96389723e-01 9.32113090e-03 -8.43838632e-02 -9.49658936e+00] [-8.83652094e-03 9.99942262e-01 6.11460588e-03 -1.76192290e-02] [ 8.44359861e-02 -5.34687069e-03 9.96414560e-01 1.01860203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562557844 meters Centerline goodness : 0.260421 with order 1 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.01, Z:1.02 [[ 9.96336722e-01 9.05477886e-03 -8.50361524e-02 -9.49349589e+00] [-8.61140811e-03 9.99947356e-01 5.57927469e-03 -1.46814421e-02] [ 8.50821949e-02 -4.82655525e-03 9.96362246e-01 1.01670553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622557844 meters Centerline goodness : 0.304266 with order 1 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.01, Z:1.02 [[ 9.96350428e-01 8.65698486e-03 -8.49169029e-02 -9.49401598e+00] [-8.25046075e-03 9.99952769e-01 5.13709130e-03 -1.34330126e-02] [ 8.49573639e-02 -4.41773954e-03 9.96374794e-01 1.01695976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68255784399997 meters Centerline goodness : 0.391937 with order 1 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.01, Z:1.02 [[ 9.96376953e-01 8.41749297e-03 -8.46292754e-02 -9.49497705e+00] [-8.03550514e-03 9.99955937e-01 4.85328453e-03 -1.22751383e-02] [ 8.46663988e-02 -4.15566188e-03 9.96400688e-01 1.01723009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74255784399998 meters Centerline goodness : 0.126470 with order 3 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.01, Z:1.02 [[ 9.96329947e-01 7.92472030e-03 -8.52281374e-02 -9.49236953e+00] [-7.57472765e-03 9.99961502e-01 4.42913838e-03 -1.12288647e-02] [ 8.52599560e-02 -3.76730328e-03 9.96351618e-01 1.01573167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80255784399998 meters Centerline goodness : 0.127335 with order 3 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.01, Z:1.02 [[ 9.96313478e-01 7.78956044e-03 -8.54328817e-02 -9.49164198e+00] [-7.46730311e-03 9.99963751e-01 4.09096997e-03 -9.37570943e-03] [ 8.54616517e-02 -3.43793530e-03 9.96335529e-01 1.01551472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86255784399998 meters Centerline goodness : 0.128026 with order 3 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.01, Z:1.01 [[ 9.96204776e-01 8.02950076e-03 -8.66693254e-02 -9.48753269e+00] [-7.71817188e-03 9.99962505e-01 3.92664879e-03 -7.35248425e-03] [ 8.66976048e-02 -3.24281753e-03 9.96229396e-01 1.01439960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92255784399998 meters Centerline goodness : 0.186180 with order 3 Centerline is valid? [False, False] Translation: X:-9.51, Y:-0.00, Z:1.01 [[ 9.96342374e-01 3.35011733e-03 -8.53853035e-02 -9.50818312e+00] [-2.74685459e-03 9.99970439e-01 7.18168878e-03 -6.72830103e-04] [ 8.54068389e-02 -6.92087984e-03 9.96322123e-01 1.01135666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98255784399998 meters Centerline goodness : 0.389426 with order 1 Centerline is valid? [False, False] Translation: X:-9.56, Y:0.01, Z:1.01 [[ 9.96177994e-01 4.61440249e-03 -8.72244916e-02 -9.55645270e+00] [-4.02031799e-03 9.99967520e-01 6.98542689e-03 6.57245636e-03] [ 8.72538922e-02 -6.60805835e-03 9.96164189e-01 1.01045852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042557844 meters Centerline goodness : 0.124645 with order 3 Centerline is valid? [False, False] Translation: X:-9.56, Y:0.01, Z:1.01 [[ 9.96159096e-01 8.50948567e-03 -8.71472501e-02 -9.55739427e+00] [-7.68183175e-03 9.99922195e-01 9.82815887e-03 1.21021726e-02] [ 8.72241023e-02 -9.12095935e-03 9.96146959e-01 1.01148605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102557844 meters Centerline goodness : 0.125038 with order 3 Centerline is valid? [False, False] Translation: X:-9.56, Y:0.02, Z:1.01 [[ 9.96280549e-01 8.85998061e-03 -8.57121309e-02 -9.56161590e+00] [-8.08718806e-03 9.99923499e-01 9.35917291e-03 1.63343203e-02] [ 8.57884959e-02 -8.63119180e-03 9.96275984e-01 1.01238170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162557844 meters Centerline goodness : 0.134580 with order 3 Centerline is valid? [False, False] Translation: X:-9.56, Y:0.02, Z:1.01 [[ 9.96318197e-01 8.41250164e-03 -8.53186952e-02 -9.56321506e+00] [-7.74447789e-03 9.99936735e-01 8.15771011e-03 2.24023493e-02] [ 8.53819243e-02 -7.46692628e-03 9.96320316e-01 1.01326308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222557844 meters Centerline goodness : 0.126291 with order 3 Centerline is valid? [False, False] Translation: X:-9.56, Y:0.03, Z:1.01 [[ 9.96314949e-01 7.94876338e-03 -8.54010551e-02 -9.56280044e+00] [-7.34661499e-03 9.99945907e-01 7.36280204e-03 2.57170277e-02] [ 8.54549606e-02 -6.70826106e-03 9.96319451e-01 1.01302157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282557844 meters Centerline goodness : 0.129163 with order 3 Centerline is valid? [False, False] Translation: X:-9.56, Y:0.03, Z:1.01 [[ 9.96306560e-01 7.73542381e-03 -8.55184328e-02 -9.56264676e+00] [-7.16329503e-03 9.99949878e-01 6.99496286e-03 2.73825555e-02] [ 8.55682555e-02 -6.35653361e-03 9.96312034e-01 1.01321577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342557844 meters Centerline goodness : 0.144061 with order 1 Centerline is valid? [False, False] Translation: X:-9.59, Y:0.04, Z:1.01 [[ 9.96441039e-01 2.97665553e-03 -8.42401016e-02 -9.58591465e+00] [-2.12737607e-03 9.99946025e-01 1.01696226e-02 3.74010141e-02] [ 8.42658262e-02 -9.95421892e-03 9.96393589e-01 1.01137246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402557844 meters Centerline goodness : 0.131012 with order 3 Centerline is valid? [False, False] Translation: X:-9.59, Y:0.04, Z:1.01 [[ 9.96454724e-01 2.48595436e-03 -8.40940153e-02 -9.58646965e+00] [-1.70340732e-03 9.99954593e-01 9.37609189e-03 4.07060052e-02] [ 8.41135053e-02 -9.19960469e-03 9.96413712e-01 1.01159634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46255784399997 meters Centerline goodness : 0.129628 with order 3 Centerline is valid? [False, False] Translation: X:-9.61, Y:0.05, Z:1.01 [[ 9.96090031e-01 -2.48389330e-03 -8.83090064e-02 -9.60554391e+00] [ 3.61256600e-03 9.99913796e-01 1.26234214e-02 4.59086587e-02] [ 8.82700386e-02 -1.28930863e-02 9.96013137e-01 1.00970987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52255784399998 meters Centerline goodness : 0.190272 with order 3 Centerline is valid? [False, False] Translation: X:-9.60, Y:0.05, Z:1.01 [[ 9.96058331e-01 -2.88861974e-03 -8.86535778e-02 -9.60456051e+00] [ 3.95189709e-03 9.99922327e-01 1.18204440e-02 4.94908274e-02] [ 8.86125471e-02 -1.21242015e-02 9.95992380e-01 1.00961352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58255784399998 meters Centerline goodness : 0.115906 with order 2 Centerline is valid? [False, False] Translation: X:-9.60, Y:0.05, Z:1.01 [[ 9.96050211e-01 9.46134899e-04 -8.87867187e-02 -9.60398663e+00] [ 3.67247235e-04 9.99890776e-01 1.47750504e-02 5.38583816e-02] [ 8.87910002e-02 -1.47492988e-02 9.95941071e-01 1.00929564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64255784399998 meters Centerline goodness : 0.128094 with order 3 Centerline is valid? [False, False] Translation: X:-9.61, Y:0.06, Z:1.01 [[ 9.96083920e-01 1.06309201e-03 -8.84064153e-02 -9.60521944e+00] [ 1.97791792e-04 9.99898410e-01 1.42523733e-02 5.73032340e-02] [ 8.84125857e-02 -1.42140460e-02 9.95982518e-01 1.00976036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70255784399998 meters Centerline goodness : 0.128745 with order 3 Centerline is valid? [False, False] Translation: X:-9.61, Y:0.06, Z:1.01 [[ 9.96253962e-01 2.99781831e-03 -8.64236968e-02 -9.61303907e+00] [-1.64082388e-03 9.99874325e-01 1.57684098e-02 5.78547424e-02] [ 8.64601063e-02 -1.55675346e-02 9.96133677e-01 1.01250159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76255784399999 meters Centerline goodness : 0.126861 with order 3 Centerline is valid? [False, False] Translation: X:-9.61, Y:0.06, Z:1.01 [[ 9.96255844e-01 3.04687539e-03 -8.64002843e-02 -9.61322391e+00] [-1.71129814e-03 9.99877971e-01 1.55278750e-02 5.93069399e-02] [ 8.64370524e-02 -1.53218796e-02 9.96139486e-01 1.01272539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822557844 meters Centerline goodness : 0.123586 with order 3 Centerline is valid? [False, False] Translation: X:-9.61, Y:0.06, Z:1.01 [[ 9.96230993e-01 7.01769880e-03 -8.64555358e-02 -9.61377969e+00] [-5.44533611e-03 9.99815705e-01 1.84093807e-02 6.40269787e-02] [ 8.65687939e-02 -1.78692161e-02 9.96085606e-01 1.01345630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882557844 meters Centerline goodness : 0.130291 with order 3 Centerline is valid? [False, False] Translation: X:-9.66, Y:0.07, Z:1.01 [[ 0.99641462 0.01334416 -0.08354547 -9.65620383] [-0.01169799 0.99972828 0.02016249 0.07152709] [ 0.08379182 -0.01911288 0.99629997 1.00962941] [ 0. 0. 0. 1. ]] SLAMing on 224.942557844 meters Centerline goodness : 0.131452 with order 3 Centerline is valid? [False, False] Translation: X:-9.66, Y:0.07, Z:1.01 [[ 0.99640192 0.01333509 -0.08369815 -9.65595416] [-0.0117351 0.99973944 0.01957915 0.07483829] [ 0.08393743 -0.0185265 0.99629879 1.00977189] [ 0. 0. 0. 1. ]] SLAMing on 225.002557844 meters Centerline goodness : 0.126467 with order 3 Centerline is valid? [False, False] Translation: X:-9.65, Y:0.08, Z:1.01 [[ 0.99635503 0.01324425 -0.08426888 -9.65417976] [-0.01166489 0.99974748 0.01920682 0.0771265 ] [ 0.08450198 -0.01815383 0.99625793 1.00933389] [ 0. 0. 0. 1. ]] SLAMing on 225.062557844 meters Centerline goodness : 0.137997 with order 2 Centerline is valid? [False, False] Translation: X:-9.65, Y:0.08, Z:1.01 [[ 0.99633027 0.01315976 -0.08457426 -9.65309584] [-0.01157117 0.99974781 0.01924623 0.07667736] [ 0.08480621 -0.01819698 0.99623129 1.00899204] [ 0. 0. 0. 1. ]] SLAMing on 225.122557844 meters Centerline goodness : 0.137421 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.08, Z:1.00 [[ 9.96421586e-01 7.47853645e-03 -8.41908247e-02 -9.71553966e+00] [-5.80259746e-03 9.99780461e-01 2.01335627e-02 7.74367745e-02] [ 8.43229111e-02 -1.95729911e-02 9.96246227e-01 1.00316147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18255784399997 meters Centerline goodness : 0.139330 with order 1 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.08, Z:1.00 [[ 9.96407838e-01 7.62109745e-03 -8.43406145e-02 -9.71491702e+00] [-5.90505159e-03 9.99770824e-01 2.05774074e-02 7.51110176e-02] [ 8.44781081e-02 -2.00054544e-02 9.96224488e-01 1.00278966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24255784399998 meters Centerline goodness : 0.115744 with order 2 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.08, Z:1.00 [[ 9.96217476e-01 3.18955051e-03 -8.68364430e-02 -9.73656106e+00] [-1.07509660e-03 9.99702046e-01 2.43857311e-02 7.67648206e-02] [ 8.68883493e-02 -2.42001339e-02 9.95924078e-01 1.00178289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30255784399998 meters Centerline goodness : 0.231028 with order 3 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.08, Z:1.00 [[ 9.96211362e-01 3.45876490e-03 -8.68962523e-02 -9.73630217e+00] [-1.33653296e-03 9.99699698e-01 2.44689138e-02 7.65457456e-02] [ 8.69547893e-02 -2.42600702e-02 9.95916821e-01 1.00149563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36255784399998 meters Centerline goodness : 0.202156 with order 3 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.07, Z:1.00 [[ 9.96338712e-01 5.01973803e-03 -8.53461943e-02 -9.74154271e+00] [-2.83812593e-03 9.99666595e-01 2.56640580e-02 7.44968960e-02] [ 8.54465663e-02 -2.53278713e-02 9.96020774e-01 1.00257011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42255784399998 meters Centerline goodness : 0.192744 with order 3 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.08, Z:1.00 [[ 9.96334249e-01 5.03624348e-03 -8.53973056e-02 -9.74108676e+00] [-2.86907281e-03 9.99671183e-01 2.54812719e-02 7.53585753e-02] [ 8.54975554e-02 -2.51428528e-02 9.96021087e-01 1.00194654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48255784399998 meters Centerline goodness : 0.163742 with order 3 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.08, Z:1.00 [[ 9.96361058e-01 5.10599080e-03 -8.50797951e-02 -9.74240058e+00] [-2.95382057e-03 9.99672938e-01 2.54026122e-02 7.59976069e-02] [ 8.51816742e-02 -2.50588631e-02 9.96050268e-01 1.00248017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542557844 meters Centerline goodness : 0.167872 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.08, Z:1.00 [[ 9.96442924e-01 -3.54107576e-03 -8.41959631e-02 -9.72319683e+00] [ 5.74162634e-03 9.99647835e-01 2.59082994e-02 7.98655328e-02] [ 8.40745690e-02 -2.62995633e-02 9.96112343e-01 1.00466628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602557844 meters Centerline goodness : 0.133023 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.08, Z:1.01 [[ 9.96455352e-01 -6.30030195e-03 -8.38870495e-02 -9.72581494e+00] [ 8.33454485e-03 9.99679092e-01 2.39217103e-02 7.59915758e-02] [ 8.37094155e-02 -2.45360766e-02 9.96188092e-01 1.00660729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662557844 meters Centerline goodness : 0.134141 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.07, Z:1.01 [[ 0.99641879 -0.01003085 -0.08395823 -9.72557071] [ 0.01183572 0.99970884 0.02102723 0.0722977 ] [ 0.08372286 -0.02194563 0.99624739 1.00685424] [ 0. 0. 0. 1. ]] SLAMing on 225.722557844 meters Centerline goodness : 0.138545 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.07, Z:1.01 [[ 0.99639523 -0.01453628 -0.08357775 -9.72599814] [ 0.01608309 0.99971106 0.01786401 0.06617476] [ 0.08329392 -0.0191438 0.99634113 1.00646492] [ 0. 0. 0. 1. ]] SLAMing on 225.782557844 meters Centerline goodness : 0.136750 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.06, Z:1.01 [[ 9.96638520e-01 -6.82348918e-03 -8.16400627e-02 -9.70770708e+00] [ 8.25908153e-03 9.99816929e-01 1.72596486e-02 6.03680107e-02] [ 8.15073458e-02 -1.78759026e-02 9.96512421e-01 1.00944762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842557844 meters Centerline goodness : 0.140584 with order 2 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.06, Z:1.01 [[ 9.96706400e-01 -6.78531336e-03 -8.08103465e-02 -9.71018624e+00] [ 8.16088745e-03 9.99827171e-01 1.67041492e-02 6.35586906e-02] [ 8.06830373e-02 -1.73086166e-02 9.96589514e-01 1.00991992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902557844 meters Centerline goodness : 0.133472 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.07, Z:1.01 [[ 9.96660773e-01 -6.85919822e-03 -8.13649529e-02 -9.70800869e+00] [ 8.20229288e-03 9.99835382e-01 1.61842961e-02 6.66691299e-02] [ 8.12405475e-02 -1.67976322e-02 9.96552965e-01 1.00881846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96255784399997 meters Centerline goodness : 0.133682 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.07, Z:1.01 [[ 9.96617296e-01 -7.08934233e-03 -8.18761623e-02 -9.70682051e+00] [ 8.42496858e-03 9.99836835e-01 1.59788120e-02 6.73724198e-02] [ 8.17495237e-02 -1.66145645e-02 9.96514411e-01 1.00907471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02255784399998 meters Centerline goodness : 0.144607 with order 2 Centerline is valid? [False, False] Translation: X:-9.75, Y:0.07, Z:1.01 [[ 9.96265489e-01 -8.02110304e-03 -8.59693962e-02 -9.74814468e+00] [ 9.33775916e-03 9.99845025e-01 1.49242323e-02 6.91846037e-02] [ 8.58363643e-02 -1.56712591e-02 9.96185992e-01 1.00640336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08255784399998 meters Centerline goodness : 0.134155 with order 3 Centerline is valid? [False, False] Translation: X:-9.75, Y:0.07, Z:1.01 [[ 0.99618628 -0.0122034 -0.08639433 -9.74621673] [ 0.01322329 0.99984936 0.0112426 0.06819913] [ 0.08624412 -0.01234215 0.99619758 1.00566466] [ 0. 0. 0. 1. ]] SLAMing on 226.14255784399998 meters Centerline goodness : 0.135416 with order 3 Centerline is valid? [False, False] Translation: X:-9.75, Y:0.07, Z:1.01 [[ 0.99623346 -0.01219581 -0.08584962 -9.74800905] [ 0.01323378 0.99984593 0.01153181 0.06646024] [ 0.08569575 -0.01262449 0.99624137 1.00621494] [ 0. 0. 0. 1. ]] SLAMing on 226.20255784399998 meters Centerline goodness : 0.129651 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.06, Z:1.01 [[ 9.96222875e-01 -6.29413900e-03 -8.66046635e-02 -9.72889769e+00] [ 7.15511020e-03 9.99927987e-01 9.63457025e-03 5.83633665e-02] [ 8.65377855e-02 -1.02178452e-02 9.96196169e-01 1.00925859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26255784399999 meters Centerline goodness : 0.195857 with order 3 Centerline is valid? [False, False] Translation: X:-9.75, Y:0.05, Z:1.01 [[ 9.96315687e-01 2.24881480e-03 -8.57321125e-02 -9.74933471e+00] [-1.46613864e-03 9.99956685e-01 9.19119380e-03 5.24442010e-02] [ 8.57490683e-02 -9.03163540e-03 9.96275829e-01 1.00650316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322557844 meters Centerline goodness : 0.129425 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.05, Z:1.00 [[ 9.96046769e-01 2.47976449e-03 -8.87957524e-02 -9.79412553e+00] [-1.69441231e-03 9.99958791e-01 8.91876440e-03 5.31101272e-02] [ 8.88142097e-02 -8.73304984e-03 9.96009925e-01 1.00407467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382557844 meters Centerline goodness : 0.129060 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.05, Z:1.00 [[ 9.96013830e-01 2.57306346e-03 -8.91618157e-02 -9.79292063e+00] [-1.72717483e-03 9.99952782e-01 9.56297202e-03 4.90986791e-02] [ 8.91822118e-02 -9.37085435e-03 9.95971245e-01 1.00357635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442557844 meters Centerline goodness : 0.137974 with order 2 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.05, Z:1.00 [[ 9.95997019e-01 2.81925658e-03 -8.93419855e-02 -9.79210871e+00] [-1.93285008e-03 9.99948066e-01 1.00064628e-02 4.74483549e-02] [ 8.93655564e-02 -9.79372244e-03 9.95950742e-01 1.00308028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502557844 meters Centerline goodness : 0.143048 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.05, Z:1.00 [[ 9.96023973e-01 2.85614739e-03 -8.90398085e-02 -9.79326851e+00] [-1.96085243e-03 9.99946658e-01 1.01408462e-02 4.64795257e-02] [ 8.90640226e-02 -9.92593204e-03 9.95976443e-01 1.00352524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562557844 meters Centerline goodness : 0.124371 with order 3 Centerline is valid? [False, False] Translation: X:-9.82, Y:0.05, Z:1.00 [[ 9.95952687e-01 -5.72506064e-03 -8.96965335e-02 -9.81524202e+00] [ 6.72236284e-03 9.99918860e-01 1.08204764e-02 5.02670839e-02] [ 8.96273077e-02 -1.13796552e-02 9.95910362e-01 1.00190363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622557844 meters Centerline goodness : 0.127443 with order 3 Centerline is valid? [False, False] Translation: X:-9.82, Y:0.05, Z:1.00 [[ 9.96009292e-01 -6.08503231e-03 -8.90419177e-02 -9.81688536e+00] [ 7.09122667e-03 9.99914483e-01 1.09882597e-02 4.80021853e-02] [ 8.89674391e-02 -1.15758252e-02 9.95967266e-01 1.00175201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68255784399997 meters Centerline goodness : 0.183772 with order 3 Centerline is valid? [False, False] Translation: X:-9.87, Y:0.04, Z:1.00 [[ 9.95812586e-01 -8.58345126e-03 -9.10143802e-02 -9.86520800e+00] [ 9.48708838e-03 9.99909864e-01 9.50052547e-03 4.43527394e-02] [ 9.09246292e-02 -1.03242043e-02 9.95804259e-01 1.00041885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74255784399998 meters Centerline goodness : 0.166397 with order 3 Centerline is valid? [False, False] Translation: X:-9.86, Y:0.04, Z:1.00 [[ 9.95772007e-01 -8.25515564e-03 -9.14874991e-02 -9.86356855e+00] [ 9.24870071e-03 9.99902716e-01 1.04412595e-02 3.96905293e-02] [ 9.13924046e-02 -1.12432544e-02 9.95751484e-01 9.99759900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80255784399998 meters Centerline goodness : 0.125125 with order 3 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.04, Z:1.00 [[ 9.95915735e-01 3.12680395e-04 -9.02870489e-02 -9.88543042e+00] [ 5.68217285e-04 9.99952494e-01 9.73076523e-03 3.50437430e-02] [ 9.02858023e-02 -9.74232486e-03 9.95868245e-01 9.96908822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86255784399998 meters Centerline goodness : 0.131169 with order 3 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.04, Z:1.00 [[ 9.95923844e-01 4.71830075e-03 -9.00746006e-02 -9.88559870e+00] [-3.49627440e-03 9.99899767e-01 1.37197919e-02 3.52466297e-02] [ 9.01303062e-02 -1.33489424e-02 9.95840516e-01 9.96476215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92255784399998 meters Centerline goodness : 0.138309 with order 3 Centerline is valid? [False, False] Translation: X:-9.88, Y:0.04, Z:1.00 [[ 9.95898099e-01 4.55356747e-03 -9.03672638e-02 -9.88465352e+00] [-3.38777058e-03 9.99909108e-01 1.30498508e-02 3.88645006e-02] [ 9.04184736e-02 -1.26901781e-02 9.95823006e-01 9.96229915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98255784399998 meters Centerline goodness : 0.132269 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.05, Z:0.99 [[ 9.95495203e-01 6.20513779e-03 -9.46086550e-02 -9.92081936e+00] [-4.93452633e-03 9.99894546e-01 1.36582234e-02 4.87703886e-02] [ 9.46834293e-02 -1.31298470e-02 9.95420843e-01 9.90771641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042557844 meters Centerline goodness : 0.175739 with order 3 Centerline is valid? [False, False] Translation: X:-9.90, Y:0.06, Z:0.99 [[ 9.95666569e-01 -2.46864135e-03 -9.29622977e-02 -9.90112086e+00] [ 3.79263911e-03 9.99893843e-01 1.40683343e-02 5.52279873e-02] [ 9.29176995e-02 -1.43599426e-02 9.95570235e-01 9.93164163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102557844 meters Centerline goodness : 0.132165 with order 3 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.06, Z:0.99 [[ 9.95651126e-01 -3.28941838e-03 -9.31021733e-02 -9.95185191e+00] [ 4.51810009e-03 9.99905426e-01 1.29894299e-02 6.14543619e-02] [ 9.30506406e-02 -1.33535854e-02 9.95571826e-01 9.91756509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162557844 meters Centerline goodness : 0.127338 with order 3 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.06, Z:0.99 [[ 9.95515629e-01 -4.11003133e-03 -9.45078856e-02 -9.94765383e+00] [ 5.33747659e-03 9.99904615e-01 1.27386415e-02 6.03064478e-02] [ 9.44465147e-02 -1.31859504e-02 9.95442608e-01 9.90757701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222557844 meters Centerline goodness : 0.122618 with order 3 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.06, Z:0.99 [[ 9.95558225e-01 -4.21250935e-03 -9.40535733e-02 -9.94894563e+00] [ 5.45815861e-03 9.99900720e-01 1.29907192e-02 5.86587950e-02] [ 9.39895122e-02 -1.34463767e-02 9.95482379e-01 9.90868436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282557844 meters Centerline goodness : 0.182721 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.06, Z:0.99 [[ 9.95523303e-01 4.54369983e-03 -9.44071398e-02 -9.96937662e+00] [-3.44986931e-03 9.99925059e-01 1.17462941e-02 5.69954003e-02] [ 9.44534365e-02 -1.13680172e-02 9.95464372e-01 9.87311965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342557844 meters Centerline goodness : 0.129175 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.06, Z:0.99 [[ 9.95448826e-01 4.62363069e-03 -9.51853850e-02 -9.96694082e+00] [-3.57133089e-03 9.99930646e-01 1.12226565e-02 6.09600500e-02] [ 9.52306729e-02 -1.08316417e-02 9.95396300e-01 9.86807210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402557844 meters Centerline goodness : 0.127349 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.07, Z:0.99 [[ 9.95519136e-01 4.68582983e-03 -9.44441226e-02 -9.96946751e+00] [-3.71382304e-03 9.99938344e-01 1.04650135e-02 6.71049614e-02] [ 9.44873367e-02 -1.00673724e-02 9.95475159e-01 9.87755239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46255784399997 meters Centerline goodness : 0.227416 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.07, Z:0.99 [[ 9.95530507e-01 4.43665912e-03 -9.43362358e-02 -9.96996626e+00] [-3.52363892e-03 9.99945351e-01 9.84273558e-03 7.01550250e-02] [ 9.43747492e-02 -9.46633672e-03 9.95491735e-01 9.88117575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52255784399998 meters Centerline goodness : 0.128634 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.08, Z:0.99 [[ 9.95528405e-01 5.47550926e-03 -9.43038389e-02 -9.96989644e+00] [-4.56703262e-03 9.99941091e-01 9.84664053e-03 8.04717370e-02] [ 9.43521990e-02 -9.37192163e-03 9.95494766e-01 9.88053883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58255784399998 meters Centerline goodness : 0.230352 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.08, Z:0.99 [[ 9.95498372e-01 4.97357732e-03 -9.46480631e-02 -9.96820846e+00] [-4.13657651e-03 9.99950605e-01 9.03744297e-03 8.40549770e-02] [ 9.46883364e-02 -8.60524081e-03 9.95469773e-01 9.86915815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64255784399998 meters Centerline goodness : 0.117757 with order 2 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:0.99 [[ 9.95495770e-01 4.79054298e-03 -9.46848610e-02 -9.96799819e+00] [-3.97972066e-03 9.99953795e-01 8.75035930e-03 8.53163783e-02] [ 9.47224051e-02 -8.33412637e-03 9.95468838e-01 9.86782063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70255784399998 meters Centerline goodness : 0.222526 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:0.99 [[ 9.95603917e-01 3.48883760e-03 -9.35984407e-02 -9.97240931e+00] [-2.81030895e-03 9.99968817e-01 7.38018937e-03 8.82173617e-02] [ 9.36212703e-02 -7.08470491e-03 9.95582676e-01 9.88522654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76255784399999 meters Centerline goodness : 0.122189 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:0.99 [[ 9.95621227e-01 7.76414512e-03 -9.31562673e-02 -9.97317130e+00] [-6.75639848e-03 9.99915252e-01 1.11283268e-02 8.99607121e-02] [ 9.32347744e-02 -1.04501975e-02 9.95589308e-01 9.88143032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822557844 meters Centerline goodness : 0.124255 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:0.99 [[ 9.95598056e-01 7.61288307e-03 -9.34160319e-02 -9.97239929e+00] [-6.66318970e-03 9.99922946e-01 1.04739811e-02 9.31855897e-02] [ 9.34885710e-02 -9.80542651e-03 9.95572067e-01 9.88085275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882557844 meters Centerline goodness : 0.121112 with order 2 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.10, Z:0.99 [[ 0.99554714 0.01184875 -0.09351741 -9.97212059] [-0.01060336 0.99984851 0.01380282 0.09751146] [ 0.09366679 -0.01274976 0.99552196 0.98821214] [ 0. 0. 0. 1. ]] SLAMing on 227.942557844 meters Centerline goodness : 0.224995 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.10, Z:0.99 [[ 0.99554622 0.01219911 -0.09348215 -9.97199231] [-0.01101673 0.99985279 0.01315382 0.10398081] [ 0.09362885 -0.01206537 0.99553406 0.98810017] [ 0. 0. 0. 1. ]] SLAMing on 228.002557844 meters Centerline goodness : 0.188810 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.11, Z:0.99 [[ 0.99557192 0.01267874 -0.093144 -9.97349789] [-0.01151909 0.99984944 0.01297724 0.10959473] [ 0.09329451 -0.01184684 0.99556807 0.98888634] [ 0. 0. 0. 1. ]] SLAMing on 228.062557844 meters Centerline goodness : 0.114274 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.12, Z:0.98 [[ 0.9952252 0.01284109 -0.09675693 -10.01502127] [ -0.0117782 0.99986395 0.01154826 0.12005189] [ 0.09689206 -0.01035349 0.99524104 0.98491136] [ 0. 0. 0. 1. ]] SLAMing on 228.122557844 meters Centerline goodness : 0.232193 with order 3 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.13, Z:0.99 [[ 9.95543054e-01 4.64414370e-03 -9.41937325e-02 -9.99857108e+00] [-3.43361038e-03 9.99909477e-01 1.30095315e-02 1.25322762e-01] [ 9.42456240e-02 -1.26281242e-02 9.95468881e-01 9.89188157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18255784399997 meters Centerline goodness : 0.134198 with order 2 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.13, Z:0.99 [[ 9.95569028e-01 4.38809583e-03 -9.39311185e-02 -9.99949353e+00] [-3.21364756e-03 9.99914810e-01 1.26509090e-02 1.26675676e-01] [ 9.39786299e-02 -1.22929916e-02 9.95498317e-01 9.89523252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24255784399998 meters SLAMing on 228.30255784399998 meters Centerline goodness : 0.220897 with order 3 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.14, Z:0.99 [[ 9.95615427e-01 7.37128764e-03 -9.32501247e-02 -1.00020860e+01] [-6.05016830e-03 9.99877401e-01 1.44422653e-02 1.36420988e-01] [ 9.33451504e-02 -1.38147632e-02 9.95537963e-01 9.90646881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36255784399998 meters Centerline goodness : 0.218443 with order 2 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.14, Z:0.99 [[ 9.95619644e-01 6.61485105e-03 -9.32618288e-02 -1.00021808e+01] [-5.44636330e-03 9.99903524e-01 1.27780744e-02 1.44520295e-01] [ 9.33373564e-02 -1.22141641e-02 9.95559618e-01 9.90794331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42255784399998 meters Centerline goodness : 0.361639 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.15, Z:0.99 [[ 9.95625552e-01 1.03776774e-02 -9.28550713e-02 -1.00031679e+01] [-8.95491344e-03 9.99836238e-01 1.57259827e-02 1.49997769e-01] [ 9.30030643e-02 -1.48256811e-02 9.95555438e-01 9.90788569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48255784399998 meters Centerline goodness : 0.326892 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.15, Z:0.99 [[ 9.95578620e-01 1.01251794e-02 -9.33846497e-02 -1.00009049e+01] [-8.73358980e-03 9.99844830e-01 1.52983710e-02 1.52036160e-01] [ 9.35250579e-02 -1.44151479e-02 9.95512565e-01 9.89545279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542557844 meters Centerline goodness : 0.354480 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.16, Z:0.99 [[ 9.95564289e-01 9.71255306e-03 -9.35810509e-02 -1.00002723e+01] [-8.39437870e-03 9.99860077e-01 1.44692797e-02 1.56195982e-01] [ 9.37084905e-02 -1.36195433e-02 9.95506518e-01 9.89449394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602557844 meters Centerline goodness : 0.353080 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.17, Z:0.99 [[ 9.95536808e-01 1.88743579e-03 -9.43551862e-02 -1.00191604e+01] [-5.04631128e-04 9.99892159e-01 1.46770246e-02 1.66669291e-01] [ 9.43727128e-02 -1.45639037e-02 9.95430401e-01 9.86668762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662557844 meters Centerline goodness : 0.373238 with order 3 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.16, Z:0.99 [[ 9.95697295e-01 8.99115704e-03 -9.22282856e-02 -1.00005182e+01] [-7.82444739e-03 9.99884830e-01 1.30040413e-02 1.64270944e-01] [ 9.23345850e-02 -1.22264533e-02 9.95652971e-01 9.89436907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722557844 meters Centerline goodness : 0.320696 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.17, Z:0.99 [[ 9.95708085e-01 8.80186475e-03 -9.21300008e-02 -1.00009876e+01] [-7.67514608e-03 9.99891452e-01 1.25768405e-02 1.66246318e-01] [ 9.22306999e-02 -1.18157505e-02 9.95667558e-01 9.89733866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782557844 meters Centerline goodness : 0.219661 with order 3 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.17, Z:0.99 [[ 9.95641524e-01 8.79441499e-03 -9.28472620e-02 -9.99908358e+00] [-7.69503502e-03 9.99896064e-01 1.21921155e-02 1.68717018e-01] [ 9.29448343e-02 -1.14245135e-02 9.95605714e-01 9.89666742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842557844 meters Centerline goodness : 0.325259 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.17, Z:0.99 [[ 9.95647892e-01 8.63985767e-03 -9.27934673e-02 -9.99929190e+00] [-7.57507020e-03 9.99901437e-01 1.18209122e-02 1.70447383e-01] [ 9.28864523e-02 -1.10665492e-02 9.95615206e-01 9.89742528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902557844 meters Centerline goodness : 0.146477 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.17, Z:0.99 [[ 9.95677569e-01 8.38526230e-03 -9.24979262e-02 -1.00006768e+01] [-7.37533786e-03 9.99909463e-01 1.12547892e-02 1.73548563e-01] [ 9.25839260e-02 -1.05239376e-02 9.95649267e-01 9.90542340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96255784399997 meters Centerline goodness : 0.127625 with order 3 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.18, Z:0.99 [[ 9.95696260e-01 7.98032695e-03 -9.23323959e-02 -1.00008580e+01] [-7.02059861e-03 9.99917953e-01 1.07144236e-02 1.75762028e-01] [ 9.24103249e-02 -1.00200828e-02 9.95670593e-01 9.90180147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02255784399998 meters Centerline goodness : 0.143819 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.18, Z:0.99 [[ 9.95751506e-01 7.50077849e-03 -9.17751439e-02 -1.00023288e+01] [-6.57116975e-03 9.99924044e-01 1.04271870e-02 1.76006820e-01] [ 9.18463850e-02 -9.77981710e-03 9.95725161e-01 9.90097003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08255784399998 meters Centerline goodness : 0.203771 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.18, Z:0.99 [[ 9.95605135e-01 -1.85725537e-03 -9.36320739e-02 -1.00230552e+01] [ 2.85461012e-03 9.99940599e-01 1.05190392e-02 1.77097169e-01] [ 9.36069755e-02 -1.07400925e-02 9.95551297e-01 9.88159425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14255784399998 meters Centerline goodness : 0.146425 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.17, Z:0.99 [[ 9.95544540e-01 -4.83103399e-03 -9.41686205e-02 -1.00190811e+01] [ 5.65989672e-03 9.99947543e-01 8.53680032e-03 1.71121760e-01] [ 9.41224392e-02 -9.03174962e-03 9.95519660e-01 9.85414783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20255784399998 meters Centerline goodness : 0.123308 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.17, Z:0.99 [[ 9.95544844e-01 -4.44838840e-03 -9.41842631e-02 -1.00193769e+01] [ 5.32190093e-03 9.99945109e-01 9.02535924e-03 1.69511343e-01] [ 9.41389449e-02 -9.48638917e-03 9.95513871e-01 9.85947046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26255784399999 meters Centerline goodness : 0.123320 with order 3 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.17, Z:0.99 [[ 9.95673168e-01 5.59209522e-03 -9.27559773e-02 -9.99842774e+00] [-4.71549211e-03 9.99942154e-01 9.66711577e-03 1.65585939e-01] [ 9.28046711e-02 -9.18789770e-03 9.95641941e-01 9.88172066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322557844 meters Centerline goodness : 0.145265 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.17, Z:0.99 [[ 9.95677011e-01 6.51664863e-03 -9.26543247e-02 -9.99852634e+00] [-5.62265618e-03 9.99935122e-01 9.90645975e-03 1.67152860e-01] [ 9.27128703e-02 -9.34267082e-03 9.95649054e-01 9.88084998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382557844 meters Centerline goodness : 0.184755 with order 3 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.17, Z:0.99 [[ 9.95723290e-01 1.00207637e-02 -9.18406998e-02 -1.00011319e+01] [-8.95865303e-03 9.99888228e-01 1.19696843e-02 1.72962036e-01] [ 9.19503800e-02 -1.10957245e-02 9.95701769e-01 9.87629089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442557844 meters Centerline goodness : 0.361938 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.18, Z:0.99 [[ 0.99565115 0.01326873 -0.09221023 -10.00006518] [ -0.01205762 0.99983374 0.01367899 0.17966769] [ 0.0923764 -0.01250767 0.9956456 0.98640602] [ 0. 0. 0. 1. ]] SLAMing on 229.502557844 meters Centerline goodness : 0.345024 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.18, Z:0.99 [[ 0.99571847 0.01344795 -0.09145426 -10.00242709] [ -0.01228261 0.9998362 0.01329334 0.18164299] [ 0.09161804 -0.01211312 0.99572055 0.98648789] [ 0. 0. 0. 1. ]] SLAMing on 229.562557844 meters Centerline goodness : 0.322090 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.19, Z:0.98 [[ 9.96087002e-01 4.24325102e-03 -8.82761479e-02 -1.00234107e+01] [-3.15198330e-03 9.99916933e-01 1.24977016e-02 1.89958054e-01] [ 8.83218459e-02 -1.21705531e-02 9.96017635e-01 9.83486912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622557844 meters Centerline goodness : 0.122349 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.19, Z:0.98 [[ 9.96389893e-01 -3.55551942e-03 -8.48206275e-02 -1.00368388e+01] [ 4.67515299e-03 9.99904501e-01 1.30050361e-02 1.91442526e-01] [ 8.47662876e-02 -1.33546359e-02 9.96311362e-01 9.78462188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68255784399997 meters Centerline goodness : 0.148877 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.19, Z:0.98 [[ 9.96371560e-01 -3.81861565e-03 -8.50243035e-02 -1.00362568e+01] [ 4.95071293e-03 9.99901829e-01 1.31081203e-02 1.90228342e-01] [ 8.49659017e-02 -1.34814892e-02 9.96292650e-01 9.78338036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74255784399998 meters Centerline goodness : 0.147312 with order 1 Centerline is valid? [False, False] Translation: X:-10.01, Y:0.19, Z:0.98 [[ 0.99625339 -0.01298722 -0.0855015 -10.01446133] [ 0.01426148 0.9997959 0.01430944 0.19265656] [ 0.08529821 -0.01547521 0.99623528 0.98105677] [ 0. 0. 0. 1. ]] SLAMing on 229.80255784399998 meters Centerline goodness : 0.119448 with order 3 Centerline is valid? [False, False] Translation: X:-10.01, Y:0.19, Z:0.98 [[ 0.99627878 -0.01306833 -0.0851928 -10.01475906] [ 0.01432866 0.99979651 0.01419928 0.1925726 ] [ 0.08498991 -0.01536715 0.9962633 0.98032133] [ 0. 0. 0. 1. ]] SLAMing on 229.86255784399998 meters Centerline goodness : 0.146232 with order 1 Centerline is valid? [False, False] Translation: X:-10.01, Y:0.19, Z:0.98 [[ 0.99625217 -0.01312764 -0.08549433 -10.01374748] [ 0.0143778 0.99979829 0.01402339 0.19358999] [ 0.08529299 -0.01520005 0.99623996 0.98000439] [ 0. 0. 0. 1. ]] SLAMing on 229.92255784399998 meters Centerline goodness : 0.126410 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.20, Z:0.98 [[ 9.96178842e-01 -4.80270146e-03 -8.72046393e-02 -9.99010810e+00] [ 6.02116314e-03 9.99887819e-01 1.37147822e-02 1.95343192e-01] [ 8.71289886e-02 -1.41874493e-02 9.96096007e-01 9.82141452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98255784399998 meters Centerline goodness : 0.217530 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.20, Z:0.98 [[ 9.96240797e-01 -5.31882535e-03 -8.64637735e-02 -9.99225244e+00] [ 6.43209141e-03 9.99899904e-01 1.26020283e-02 2.00534364e-01] [ 8.63880908e-02 -1.31107976e-02 9.96175288e-01 9.82352041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042557844 meters Centerline goodness : 0.125718 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.20, Z:0.98 [[ 9.96237520e-01 -5.42000727e-03 -8.64952481e-02 -9.99179715e+00] [ 6.50554959e-03 9.99903516e-01 1.22733709e-02 2.03091177e-01] [ 8.64203810e-02 -1.27898917e-02 9.96176659e-01 9.81931130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102557844 meters Centerline goodness : 0.126090 with order 3 Centerline is valid? [False, False] Translation: X:-9.98, Y:0.21, Z:0.98 [[ 9.96008628e-01 -7.84624225e-03 -8.89114699e-02 -9.98357339e+00] [ 8.78297471e-03 9.99909922e-01 1.01492317e-02 2.07293063e-01] [ 8.88238276e-02 -1.08896296e-02 9.95987823e-01 9.80357087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162557844 meters Centerline goodness : 0.140973 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:0.21, Z:0.98 [[ 9.96051750e-01 -5.09170692e-03 -8.86283604e-02 -9.98387657e+00] [ 6.24254829e-03 9.99899704e-01 1.27126903e-02 2.09778423e-01] [ 8.85547421e-02 -1.32157643e-02 9.95983635e-01 9.79966776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222557844 meters Centerline goodness : 0.140999 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.21, Z:0.98 [[ 9.96103597e-01 -5.52167340e-03 -8.80178111e-02 -9.98549579e+00] [ 6.57399523e-03 9.99910288e-01 1.16703908e-02 2.13767548e-01] [ 8.79454748e-02 -1.22035469e-02 9.96050534e-01 9.79837422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282557844 meters Centerline goodness : 0.135812 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.22, Z:0.98 [[ 9.96226970e-01 -3.14781370e-03 -8.67289801e-02 -9.99188608e+00] [ 4.33930805e-03 9.99898738e-01 1.35530334e-02 2.16125323e-01] [ 8.66775353e-02 -1.38782412e-02 9.96139749e-01 9.82747255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342557844 meters Centerline goodness : 0.138557 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.22, Z:0.98 [[ 9.96265247e-01 6.39288348e-04 -8.63432005e-02 -9.99192178e+00] [ 7.87974576e-04 9.99863637e-01 1.64950205e-02 2.19920608e-01] [ 8.63419716e-02 -1.65014519e-02 9.96128890e-01 9.81829672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40255784399997 meters Centerline goodness : 0.094796 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.23, Z:0.98 [[ 9.96182395e-01 4.88208923e-03 -8.71596254e-02 -9.98988691e+00] [-3.19252422e-03 9.99804494e-01 1.95136031e-02 2.26153022e-01] [ 8.72378524e-02 -1.91608486e-02 9.96003222e-01 9.81727296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46255784399997 meters Centerline goodness : 0.122411 with order 3 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.23, Z:0.99 [[ 9.96382678e-01 5.20784692e-03 -8.48200326e-02 -9.94701919e+00] [-3.47227946e-03 9.99781841e-01 2.05964514e-02 2.31465120e-01] [ 8.49087915e-02 -2.02274285e-02 9.96183391e-01 9.85726745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52255784399998 meters Centerline goodness : 0.184670 with order 3 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.24, Z:0.99 [[ 9.96391871e-01 4.55696432e-03 -8.47494793e-02 -9.94725095e+00] [-2.94461757e-03 9.99812475e-01 1.91401385e-02 2.38726783e-01] [ 8.48208076e-02 -1.88215236e-02 9.96218440e-01 9.85670580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58255784399998 meters Centerline goodness : 0.123927 with order 3 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.24, Z:0.99 [[ 9.96371371e-01 4.06555111e-03 -8.50150710e-02 -9.94662903e+00] [-2.51397037e-03 9.99828469e-01 1.83497540e-02 2.42128956e-01] [ 8.50750901e-02 -1.80694442e-02 9.96210683e-01 9.85820123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64255784399998 meters Centerline goodness : 0.143351 with order 1 Centerline is valid? [False, False] Translation: X:-9.96, Y:0.25, Z:0.98 [[ 9.96240320e-01 -5.96872064e-03 -8.64268407e-02 -9.96129069e+00] [ 7.68194675e-03 9.99780270e-01 1.95038480e-02 2.48468088e-01] [ 8.62914371e-02 -2.00944462e-02 9.96067267e-01 9.84859980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70255784399998 meters Centerline goodness : 0.094005 with order 1 Centerline is valid? [False, False] Translation: X:-9.96, Y:0.25, Z:0.99 [[ 9.96250960e-01 -6.13465349e-03 -8.62924680e-02 -9.96190272e+00] [ 7.79348820e-03 9.99791010e-01 1.88996646e-02 2.51779460e-01] [ 8.61584908e-02 -1.95013283e-02 9.96090564e-01 9.85293396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76255784399999 meters SLAMing on 230.822557844 meters Centerline goodness : 0.154473 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.25, Z:0.99 [[ 9.96112508e-01 1.03046239e-02 -8.74853487e-02 -9.91549894e+00] [-8.63921862e-03 9.99774598e-01 1.93937332e-02 2.48620332e-01] [ 8.76654745e-02 -1.85625351e-02 9.95977006e-01 9.89173745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882557844 meters Centerline goodness : 0.254909 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.25, Z:0.99 [[ 9.96143996e-01 1.05909721e-02 -8.70917367e-02 -9.91690229e+00] [-8.92767341e-03 9.99770667e-01 1.94656238e-02 2.48905602e-01] [ 8.72779235e-02 -1.86130377e-02 9.96010100e-01 9.89691997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942557844 meters Centerline goodness : 0.200013 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.25, Z:0.99 [[ 9.96149373e-01 1.15511349e-02 -8.69079884e-02 -9.91730026e+00] [-9.87154652e-03 9.99756589e-01 1.97310786e-02 2.49922180e-01] [ 8.71147504e-02 -1.87971853e-02 9.96020927e-01 9.89657115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002557844 meters Centerline goodness : 0.229202 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.25, Z:0.99 [[ 0.99610292 0.01248754 -0.08731003 -9.91626616] [-0.0107825 0.99974238 0.01997297 0.25092499] [ 0.08753695 -0.01895371 0.99598094 0.98961211] [ 0. 0. 0. 1. ]] SLAMing on 231.062557844 meters Centerline goodness : 0.167989 with order 1 Centerline is valid? [False, False] Translation: X:-9.90, Y:0.25, Z:0.99 [[ 0.99600891 0.02025661 -0.08692485 -9.89522024] [-0.01866363 0.99964337 0.01909977 0.24732144] [ 0.08728075 -0.01740121 0.99603176 0.99186837] [ 0. 0. 0. 1. ]] SLAMing on 231.122557844 meters Centerline goodness : 0.130618 with order 3 Centerline is valid? [False, False] Translation: X:-9.88, Y:0.25, Z:0.99 [[ 0.99632872 0.01272971 -0.08465838 -9.87797854] [-0.01099293 0.99972009 0.02094982 0.25216759] [ 0.08490136 -0.01994227 0.99618977 0.99473577] [ 0. 0. 0. 1. ]] SLAMing on 231.18255784399997 meters Centerline goodness : 0.264311 with order 3 Centerline is valid? [False, False] Translation: X:-9.86, Y:0.25, Z:1.00 [[ 9.96450859e-01 3.37846372e-03 -8.41086898e-02 -9.85841598e+00] [-1.56139165e-03 9.99764170e-01 2.16602699e-02 2.54563917e-01] [ 8.41620329e-02 -2.14520679e-02 9.96221141e-01 9.96690889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24255784399998 meters Centerline goodness : 0.213357 with order 3 Centerline is valid? [False, False] Translation: X:-9.86, Y:0.25, Z:1.00 [[ 9.96435037e-01 3.60798038e-03 -8.42864144e-02 -9.85759756e+00] [-1.74044435e-03 9.99751590e-01 2.22200032e-02 2.51783377e-01] [ 8.43456462e-02 -2.19940939e-02 9.96193792e-01 9.96201072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30255784399998 meters Centerline goodness : 0.135764 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.25, Z:1.00 [[ 9.96398987e-01 8.41456058e-03 -8.43697489e-02 -9.83471465e+00] [-6.80243418e-03 9.99789104e-01 1.93771759e-02 2.46953335e-01] [ 8.45150060e-02 -1.87334787e-02 9.96246089e-01 9.97552364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36255784399998 meters Centerline goodness : 0.132866 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.25, Z:1.00 [[ 9.96379348e-01 8.90033684e-03 -8.45516353e-02 -9.83380146e+00] [-7.25135138e-03 9.99777865e-01 1.97898361e-02 2.45689522e-01] [ 8.47089897e-02 -1.91050704e-02 9.96222557e-01 9.96815209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42255784399998 meters Centerline goodness : 0.210619 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.25, Z:1.00 [[ 9.96323432e-01 9.66879314e-03 -8.51242189e-02 -9.83244949e+00] [-7.99425707e-03 9.99768207e-01 1.99906250e-02 2.45524593e-01] [ 8.52977729e-02 -1.92366232e-02 9.96169786e-01 9.97130198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48255784399998 meters Centerline goodness : 0.224944 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.25, Z:1.00 [[ 9.96304101e-01 1.07737394e-02 -8.52177463e-02 -9.83172752e+00] [-9.12712581e-03 9.99764502e-01 1.96884970e-02 2.47028328e-01] [ 8.54097964e-02 -1.88379373e-02 9.96167807e-01 9.96466599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542557844 meters Centerline goodness : 0.137159 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.25, Z:1.00 [[ 0.99624286 0.01208649 -0.08575591 -9.82991459] [-0.0103816 0.99974006 0.02029886 0.24792109] [ 0.08597896 -0.01933231 0.99610937 0.99571396] [ 0. 0. 0. 1. ]] SLAMing on 231.602557844 meters Centerline goodness : 0.136632 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.25, Z:1.00 [[ 9.96233667e-01 8.12522888e-03 -8.63276409e-02 -9.82888701e+00] [-6.73329406e-03 9.99842793e-01 1.64028263e-02 2.48414825e-01] [ 8.64473463e-02 -1.57597784e-02 9.96131761e-01 9.96060755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662557844 meters Centerline goodness : 0.136610 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.25, Z:1.00 [[ 9.96282627e-01 8.10932624e-03 -8.57622584e-02 -9.83058097e+00] [-6.69553692e-03 9.99837126e-01 1.67598003e-02 2.46138625e-01] [ 8.58842007e-02 -1.61232735e-02 9.96174655e-01 9.96502967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722557844 meters Centerline goodness : 0.152149 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.24, Z:1.00 [[ 9.96307885e-01 8.08569354e-03 -8.54705730e-02 -9.83131765e+00] [-6.65630494e-03 9.99833409e-01 1.69955271e-02 2.44874505e-01] [ 8.55937550e-02 -1.63638594e-02 9.96195730e-01 9.96583149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782557844 meters Centerline goodness : 0.192053 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.25, Z:1.00 [[ 9.96277938e-01 7.97622717e-03 -8.58291908e-02 -9.83011659e+00] [-6.55386153e-03 9.99836699e-01 1.68410885e-02 2.45185283e-01] [ 8.59495031e-02 -1.62158923e-02 9.96167520e-01 9.96153807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842557844 meters Centerline goodness : 0.225535 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.25, Z:1.00 [[ 9.96270777e-01 8.12526869e-03 -8.58983024e-02 -9.83010976e+00] [-6.70212731e-03 9.99835681e-01 1.68431731e-02 2.45088376e-01] [ 8.60210429e-02 -1.62046598e-02 9.96161528e-01 9.96368889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90255784399997 meters Centerline goodness : 0.130658 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.24, Z:1.00 [[ 9.96327349e-01 7.98091626e-03 -8.52532570e-02 -9.83280577e+00] [-6.56396661e-03 9.99835843e-01 1.68878790e-02 2.43304991e-01] [ 8.53740428e-02 -1.62662562e-02 9.96216182e-01 9.97609938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96255784399997 meters Centerline goodness : 0.195755 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.24, Z:1.00 [[ 9.96261597e-01 5.84106430e-03 -8.61899745e-02 -9.82833619e+00] [-4.55650230e-03 9.99875711e-01 1.50930555e-02 2.39928980e-01] [ 8.62674215e-02 -1.46439067e-02 9.96164388e-01 9.95676617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02255784399998 meters Centerline goodness : 0.172620 with order 1 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.24, Z:1.00 [[ 9.96244361e-01 6.23409647e-03 -8.63615036e-02 -9.82738929e+00] [-4.87843184e-03 9.99861690e-01 1.58997235e-02 2.36012028e-01] [ 8.64486793e-02 -1.54187011e-02 9.96136983e-01 9.95085077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08255784399998 meters Centerline goodness : 0.217218 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.23, Z:1.00 [[ 9.96343713e-01 3.94812440e-03 -8.53441089e-02 -9.83021238e+00] [-2.72247787e-03 9.99891556e-01 1.44728507e-02 2.27718997e-01] [ 8.53919945e-02 -1.41875863e-02 9.96246415e-01 9.95210173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14255784399998 meters SLAMing on 232.20255784399998 meters Centerline goodness : 0.211670 with order 3 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.20, Z:0.99 [[ 9.96606944e-01 6.72809429e-03 -8.20325066e-02 -9.84244765e+00] [-5.58797986e-03 9.99884693e-01 1.41199996e-02 1.99256067e-01] [ 8.21180484e-02 -1.36136936e-02 9.96529625e-01 9.92763384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26255784399999 meters Centerline goodness : 0.169690 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.20, Z:0.99 [[ 9.96603962e-01 7.24929132e-03 -8.20243348e-02 -9.84192325e+00] [-6.03673506e-03 9.99868951e-01 1.50212402e-02 1.95011638e-01] [ 8.21224789e-02 -1.44750683e-02 9.96517120e-01 9.92049632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322557844 meters Centerline goodness : 0.171360 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.19, Z:0.99 [[ 9.96602268e-01 7.90768575e-03 -8.19840682e-02 -9.84182464e+00] [-6.59922053e-03 9.99846690e-01 1.62187033e-02 1.89480741e-01] [ 8.20997516e-02 -1.56225656e-02 9.96501664e-01 9.91801069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382557844 meters Centerline goodness : 0.165713 with order 3 Centerline is valid? [False, False] Translation: X:-9.85, Y:0.18, Z:0.99 [[ 9.96679334e-01 6.00620630e-03 -8.12048665e-02 -9.84609978e+00] [-4.82019605e-03 9.99878954e-01 1.47933189e-02 1.84296522e-01] [ 8.12838888e-02 -1.43527718e-02 9.96587642e-01 9.93911825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442557844 meters Centerline goodness : 0.168491 with order 1 Centerline is valid? [False, False] Translation: X:-9.85, Y:0.18, Z:0.99 [[ 9.96684696e-01 6.48091887e-03 -8.11024899e-02 -9.84597061e+00] [-5.21823985e-03 9.99862010e-01 1.57712146e-02 1.79785776e-01] [ 8.11935105e-02 -1.52957160e-02 9.96580983e-01 9.93454489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502557844 meters Centerline goodness : 0.114956 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.18, Z:0.99 [[ 9.96636368e-01 2.67069470e-03 -8.19073662e-02 -9.84260345e+00] [-1.66336047e-03 9.99922177e-01 1.23642276e-02 1.77613015e-01] [ 8.19340130e-02 -1.21863975e-02 9.96563249e-01 9.91760417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562557844 meters Centerline goodness : 0.165786 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.18, Z:0.99 [[ 9.96620542e-01 2.78039277e-03 -8.20960664e-02 -9.84204434e+00] [-1.75552192e-03 9.99919663e-01 1.25533444e-02 1.76814336e-01] [ 8.21243743e-02 -1.23667995e-02 9.96545357e-01 9.91656848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622557844 meters Centerline goodness : 0.166328 with order 3 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.18, Z:0.99 [[ 9.96586510e-01 3.14318354e-03 -8.24951384e-02 -9.84071955e+00] [-2.13648435e-03 9.99922210e-01 1.22885731e-02 1.79609449e-01] [ 8.25273464e-02 -1.20703767e-02 9.96515701e-01 9.91095807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68255784399997 meters Centerline goodness : 0.111607 with order 2 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.18, Z:0.99 [[ 9.96649092e-01 3.37530694e-03 -8.17263449e-02 -9.84330822e+00] [-2.41578531e-03 9.99927026e-01 1.18367020e-02 1.83400716e-01] [ 8.17603335e-02 -1.15996050e-02 9.96584516e-01 9.91659209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74255784399998 meters Centerline goodness : 0.169913 with order 3 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.18, Z:0.99 [[ 9.96663391e-01 3.29989159e-03 -8.15548665e-02 -9.84404058e+00] [-2.36358366e-03 9.99930219e-01 1.15745884e-02 1.84779228e-01] [ 8.15873704e-02 -1.13432068e-02 9.96601642e-01 9.91934920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80255784399998 meters Centerline goodness : 0.158459 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.18, Z:0.99 [[ 9.96648792e-01 3.25022582e-03 -8.17350727e-02 -9.84326816e+00] [-2.31124300e-03 9.99930277e-01 1.15801164e-02 1.84440043e-01] [ 8.17670119e-02 -1.13523994e-02 9.96586814e-01 9.91547619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86255784399998 meters Centerline goodness : 0.170270 with order 1 Centerline is valid? [False, False] Translation: X:-9.85, Y:0.18, Z:0.99 [[ 9.96683880e-01 3.26157546e-03 -8.13056356e-02 -9.84509075e+00] [-2.32273925e-03 9.99929568e-01 1.16389099e-02 1.84261108e-01] [ 8.13378702e-02 -1.14114621e-02 9.96621257e-01 9.92580693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92255784399998 meters Centerline goodness : 0.121095 with order 2 Centerline is valid? [False, False] Translation: X:-9.85, Y:0.18, Z:0.99 [[ 9.96687043e-01 3.32910837e-03 -8.12641086e-02 -9.84520166e+00] [-2.37969970e-03 9.99927816e-01 1.17770590e-02 1.83432363e-01] [ 8.12974497e-02 -1.15446580e-02 9.96623021e-01 9.92593861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98255784399998 meters Centerline goodness : 0.158676 with order 3 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.18, Z:0.99 [[ 9.96372213e-01 3.77998621e-03 -8.50183838e-02 -9.88663714e+00] [-2.82900459e-03 9.99932114e-01 1.13032970e-02 1.79268818e-01] [ 8.50553385e-02 -1.10217736e-02 9.96315266e-01 9.88840106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042557844 meters Centerline goodness : 0.164261 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.18, Z:0.99 [[ 9.96378583e-01 4.02861962e-03 -8.49322594e-02 -9.88703278e+00] [-3.03136940e-03 9.99924985e-01 1.18674090e-02 1.76672271e-01] [ 8.49736975e-02 -1.15669711e-02 9.96316052e-01 9.89207762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102557844 meters Centerline goodness : 0.174416 with order 3 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.17, Z:0.99 [[ 9.96479896e-01 1.59927522e-03 -8.38168167e-02 -9.89128215e+00] [-7.48082361e-04 9.99947843e-01 1.01858172e-02 1.70437040e-01] [ 8.38287350e-02 -1.00872602e-02 9.96429120e-01 9.90481781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162557844 meters Centerline goodness : 0.168823 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.17, Z:0.99 [[ 9.96469390e-01 1.79074678e-03 -8.39377631e-02 -9.89062120e+00] [-9.05510502e-04 9.99943586e-01 1.05832253e-02 1.68607224e-01] [ 8.39519798e-02 -1.04698535e-02 9.96414797e-01 9.90029111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222557844 meters Centerline goodness : 0.135917 with order 3 Centerline is valid? [False, False] Translation: X:-9.88, Y:0.16, Z:0.99 [[ 9.96341826e-01 -2.16468898e-04 -8.54571225e-02 -9.88347446e+00] [ 9.91698346e-04 9.99958744e-01 9.02921314e-03 1.64137725e-01] [ 8.54516424e-02 -9.08093039e-03 9.96300935e-01 9.86804846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282557844 meters Centerline goodness : 0.114183 with order 1 Centerline is valid? [False, False] Translation: X:-9.88, Y:0.16, Z:0.99 [[ 9.96351270e-01 4.09883275e-06 -8.53472083e-02 -9.88414782e+00] [ 8.16478083e-04 9.99953781e-01 9.57966446e-03 1.61335649e-01] [ 8.53433029e-02 -9.61439498e-03 9.96305216e-01 9.87454172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342557844 meters Centerline goodness : 0.088511 with order 1 Centerline is valid? [False, False] Translation: X:-9.88, Y:0.16, Z:0.99 [[ 9.96368426e-01 2.68791095e-04 -8.51462710e-02 -9.88486971e+00] [ 6.04006214e-04 9.99947545e-01 1.02246370e-02 1.58037935e-01] [ 8.51445529e-02 -1.02389344e-02 9.96315999e-01 9.87832033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40255784399997 meters Centerline goodness : 0.098499 with order 1 Centerline is valid? [False, False] Translation: X:-9.88, Y:0.16, Z:0.99 [[ 9.96358279e-01 4.81885847e-04 -8.52639894e-02 -9.88412633e+00] [ 4.36264944e-04 9.99942129e-01 1.07493698e-02 1.55349486e-01] [ 8.52642350e-02 -1.07474212e-02 9.96300408e-01 9.87280192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46255784399997 meters Centerline goodness : 0.094332 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.15, Z:0.99 [[ 9.96162893e-01 6.54554835e-04 -8.75160710e-02 -9.93133637e+00] [ 2.99879594e-04 9.99940633e-01 1.08922269e-02 1.46744822e-01] [ 8.75180049e-02 -1.08766765e-02 9.96103557e-01 9.86003898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52255784399998 meters Centerline goodness : 0.095464 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.14, Z:0.99 [[ 9.96189230e-01 -3.38933384e-03 -8.71523352e-02 -9.93266493e+00] [ 4.08473678e-03 9.99961221e-01 7.80206733e-03 1.41553259e-01] [ 8.71225117e-02 -8.12832980e-03 9.96164443e-01 9.86756452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58255784399998 meters Centerline goodness : 0.104419 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.13, Z:0.99 [[ 9.96187848e-01 -2.81398755e-03 -8.71886002e-02 -9.93218873e+00] [ 3.62811408e-03 9.99951277e-01 9.18047451e-03 1.34903674e-01] [ 8.71585183e-02 -9.46180734e-03 9.96149520e-01 9.86490759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64255784399998 meters Centerline goodness : 0.094912 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.13, Z:0.99 [[ 9.96189081e-01 -2.25872872e-03 -8.71906685e-02 -9.93183338e+00] [ 3.17036989e-03 9.99941735e-01 1.03186587e-02 1.29680226e-01] [ 8.71622813e-02 -1.05557618e-02 9.96138200e-01 9.86218801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70255784399998 meters Centerline goodness : 0.096593 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.99 [[ 9.96157487e-01 -1.60646846e-03 -8.75652863e-02 -9.92983820e+00] [ 2.63273587e-03 9.99929185e-01 1.16057960e-02 1.21658647e-01] [ 8.75404410e-02 -1.17917369e-02 9.96091174e-01 9.85219943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76255784399999 meters Centerline goodness : 0.245166 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.98 [[ 9.96139937e-01 -1.16977323e-03 -8.77716240e-02 -9.92895867e+00] [ 2.25550536e-03 9.99922155e-01 1.22718112e-02 1.18697921e-01] [ 8.77504362e-02 -1.24224106e-02 9.96065030e-01 9.84781575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822557844 meters Centerline goodness : 0.099778 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.98 [[ 9.96170377e-01 -3.81161574e-04 -8.74324620e-02 -9.92923512e+00] [ 1.52738076e-03 9.99913767e-01 1.30432420e-02 1.15893244e-01] [ 8.74199508e-02 -1.31268339e-02 9.96085056e-01 9.83871721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882557844 meters Centerline goodness : 0.203380 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.98 [[ 9.96173038e-01 7.79538768e-04 -8.73994899e-02 -9.92864044e+00] [ 4.16879093e-04 9.99906475e-01 1.36699834e-02 1.15943371e-01] [ 8.74019721e-02 -1.36541039e-02 9.96079545e-01 9.82705537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942557844 meters Centerline goodness : 0.225667 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.98 [[ 9.96100836e-01 9.49451698e-04 -8.82169070e-02 -9.92641801e+00] [ 2.26481903e-04 9.99911272e-01 1.33190599e-02 1.18242198e-01] [ 8.82217255e-02 -1.32871062e-02 9.96012239e-01 9.82265032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002557844 meters Centerline goodness : 0.228741 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.98 [[ 9.96151422e-01 8.25288536e-04 -8.76450946e-02 -9.92871464e+00] [ 3.12597519e-04 9.99915858e-01 1.29683648e-02 1.20147138e-01] [ 8.76484226e-02 -1.29458527e-02 9.96067347e-01 9.83239082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062557844 meters Centerline goodness : 0.093216 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.98 [[ 9.96159431e-01 7.61173922e-04 -8.75546031e-02 -9.92900181e+00] [ 3.78500609e-04 9.99915433e-01 1.29993908e-02 1.19891013e-01] [ 8.75570937e-02 -1.29826052e-02 9.96074900e-01 9.83346584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122557844 meters Centerline goodness : 0.233008 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.98 [[ 9.96162228e-01 -3.03853876e-03 -8.74733313e-02 -9.92866001e+00] [ 3.89782565e-03 9.99945799e-01 9.65428672e-03 1.19768688e-01] [ 8.74392553e-02 -9.95819156e-03 9.96120079e-01 9.82853143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18255784399997 meters Centerline goodness : 0.244986 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.99 [[ 9.96223435e-01 -5.47938761e-03 -8.66535832e-02 -9.93316710e+00] [ 6.18433517e-03 9.99949916e-01 7.86887772e-03 1.16099078e-01] [ 8.66061267e-02 -8.37505519e-03 9.96207427e-01 9.85263535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24255784399998 meters Centerline goodness : 0.222492 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.99 [[ 9.96245504e-01 -5.37950389e-03 -8.64057713e-02 -9.93400102e+00] [ 6.10195236e-03 9.99948583e-01 8.09917321e-03 1.15023132e-01] [ 8.63577591e-02 -8.59600879e-03 9.96227106e-01 9.85587701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30255784399998 meters Centerline goodness : 0.221466 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.11, Z:0.99 [[ 9.96256352e-01 -5.24280335e-03 -8.62890167e-02 -9.93412259e+00] [ 5.97675557e-03 9.99948110e-01 8.24959446e-03 1.14356141e-01] [ 8.62412882e-02 -8.73443924e-03 9.96235991e-01 9.85252703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36255784399998 meters Centerline goodness : 0.094993 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.12, Z:0.98 [[ 9.96237054e-01 -5.08167281e-03 -8.65211430e-02 -9.93331233e+00] [ 5.80502667e-03 9.99950256e-01 8.11088039e-03 1.15615176e-01] [ 8.64756223e-02 -8.58261713e-03 9.96216997e-01 9.84803284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42255784399998 meters Centerline goodness : 0.148911 with order 1 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.11, Z:0.98 [[ 9.96189927e-01 4.09060051e-03 -8.71142722e-02 -9.95377750e+00] [-3.46745109e-03 9.99967318e-01 7.30336093e-03 1.12034325e-01] [ 8.71413003e-02 -6.97347012e-03 9.96171554e-01 9.82282724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48255784399998 meters Centerline goodness : 0.131484 with order 1 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.11, Z:0.98 [[ 9.96199777e-01 4.22465623e-03 -8.69951483e-02 -9.95418973e+00] [-3.57167179e-03 9.99964281e-01 7.66027408e-03 1.10440816e-01] [ 8.70244030e-02 -7.32044521e-03 9.96179283e-01 9.82491079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542557844 meters Centerline goodness : 0.086371 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.11, Z:0.98 [[ 9.96232097e-01 -6.42195845e-03 -8.64891219e-02 -9.93233642e+00] [ 7.09464376e-03 9.99946912e-01 7.47255018e-03 1.07710936e-01] [ 8.64365420e-02 -8.05800384e-03 9.96224770e-01 9.84010068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602557844 meters Centerline goodness : 0.220778 with order 2 Centerline is valid? [False, False] Translation: X:-9.96, Y:0.10, Z:0.98 [[ 9.96000383e-01 -1.87377363e-02 -8.73620919e-02 -9.95755591e+00] [ 1.93502893e-02 9.99793727e-01 6.17000352e-03 9.51975893e-02] [ 8.72284596e-02 -7.83580762e-03 9.96157516e-01 9.84046607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662557844 meters Centerline goodness : 0.246852 with order 3 Centerline is valid? [False, False] Translation: X:-9.96, Y:0.09, Z:0.98 [[ 9.95934412e-01 -2.19362515e-02 -8.73696104e-02 -9.95590049e+00] [ 2.23985568e-02 9.99739811e-01 4.31442467e-03 8.65056541e-02] [ 8.72522355e-02 -6.25383718e-03 9.96166621e-01 9.82941611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722557844 meters Centerline goodness : 0.217755 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.07, Z:0.98 [[ 9.95772847e-01 -1.42860105e-02 -9.07322838e-02 -9.96995361e+00] [ 1.46477098e-02 9.99887199e-01 3.32177945e-03 6.90819475e-02] [ 9.06745942e-02 -4.63675794e-03 9.95869780e-01 9.79425778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782557844 meters Centerline goodness : 0.088240 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.06, Z:0.98 [[ 9.95842027e-01 -5.35480854e-03 -9.09394454e-02 -9.98972921e+00] [ 5.65369288e-03 9.99979429e-01 3.02934102e-03 5.86547190e-02] [ 9.09213531e-02 -3.53088880e-03 9.95851816e-01 9.76205340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842557844 meters Centerline goodness : 0.146160 with order 1 Centerline is valid? [False, False] Translation: X:-10.01, Y:0.05, Z:0.97 [[ 9.95809214e-01 4.73710832e-03 -9.13321899e-02 -1.00104693e+01] [-4.46609979e-03 9.99984998e-01 3.17143314e-03 5.11979417e-02] [ 9.13458432e-02 -2.75024367e-03 9.95815431e-01 9.73703025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90255784399997 meters Centerline goodness : 0.148016 with order 3 Centerline is valid? [False, False] Translation: X:-10.01, Y:0.05, Z:0.97 [[ 9.95932952e-01 6.21169417e-03 -8.98830920e-02 -1.00149007e+01] [-5.87498130e-03 9.99974701e-01 4.01020417e-03 5.19222424e-02] [ 8.99057282e-02 -3.46583300e-03 9.95944249e-01 9.74249985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96255784399997 meters Centerline goodness : 0.129664 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.05, Z:0.97 [[ 9.95989646e-01 6.19166153e-03 -8.92540634e-02 -1.00168916e+01] [-5.87907805e-03 9.99975632e-01 3.76464404e-03 5.34217038e-02] [ 8.92751978e-02 -3.22481488e-03 9.96001777e-01 9.74602664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02255784399998 meters Centerline goodness : 0.144680 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.05, Z:0.97 [[ 9.95975042e-01 6.12553975e-03 -8.94214324e-02 -1.00158987e+01] [-5.82980660e-03 9.99976641e-01 3.56799009e-03 5.43079840e-02] [ 8.94411994e-02 -3.03231943e-03 9.95987488e-01 9.73699740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08255784399998 meters Centerline goodness : 0.140530 with order 3 Centerline is valid? [False, False] Translation: X:-10.01, Y:0.05, Z:0.97 [[ 9.95952573e-01 6.12776343e-03 -8.96711937e-02 -1.00149988e+01] [-5.82970204e-03 9.99976579e-01 3.58546765e-03 5.41479085e-02] [ 8.96910645e-02 -3.04819939e-03 9.95964970e-01 9.73337604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14255784399998 meters Centerline goodness : 0.132215 with order 3 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.06, Z:0.97 [[ 9.95936178e-01 -2.11194662e-03 -9.00370449e-02 -1.00370204e+01] [ 2.56247638e-03 9.99984768e-01 4.88852648e-03 5.62850639e-02] [ 9.00253492e-02 -5.09937818e-03 9.95926419e-01 9.70837073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20255784399998 meters Centerline goodness : 0.140480 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.06, Z:0.97 [[ 9.95947561e-01 -2.08312447e-03 -8.99117117e-02 -1.00374824e+01] [ 2.55253440e-03 9.99983706e-01 5.10611875e-03 5.51278681e-02] [ 8.98996100e-02 -5.31492925e-03 9.95936650e-01 9.71090742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26255784399999 meters Centerline goodness : 0.120381 with order 3 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.05, Z:0.97 [[ 9.95924260e-01 -2.03667515e-03 -9.01705076e-02 -1.00369767e+01] [ 2.52449077e-03 9.99982788e-01 5.29620515e-03 5.42619793e-02] [ 9.01581690e-02 -5.50225381e-03 9.95912260e-01 9.71402517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322557844 meters Centerline goodness : 0.139936 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.05, Z:0.97 [[ 9.95928883e-01 -1.98135806e-03 -9.01206664e-02 -1.00372624e+01] [ 2.49438572e-03 9.99981318e-01 5.58040415e-03 5.28099002e-02] [ 9.01079261e-02 -5.78248138e-03 9.95915220e-01 9.71700598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382557844 meters Centerline goodness : 0.142506 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.05, Z:0.97 [[ 9.95980966e-01 -4.79489681e-03 -8.94367072e-02 -1.00415037e+01] [ 5.13795989e-03 9.99980299e-01 3.60599047e-03 4.78127508e-02] [ 8.94176548e-02 -4.05102008e-03 9.95985980e-01 9.74252781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442557844 meters Centerline goodness : 0.134488 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.05, Z:0.97 [[ 9.95937152e-01 -8.87674862e-03 -8.96124590e-02 -1.00402305e+01] [ 8.91847659e-03 9.99960227e-01 6.52431805e-05 4.58270098e-02] [ 8.96083157e-02 -8.64184725e-04 9.95976708e-01 9.73439275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502557844 meters Centerline goodness : 0.131424 with order 3 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.04, Z:0.97 [[ 9.95933964e-01 -8.72576613e-03 -8.96627081e-02 -1.00401228e+01] [ 8.80131150e-03 9.99961168e-01 4.47206650e-04 4.35861588e-02] [ 8.96553240e-02 -1.23453772e-03 9.95972087e-01 9.73522292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562557844 meters Centerline goodness : 0.119873 with order 3 Centerline is valid? [False, False] Translation: X:-10.06, Y:0.03, Z:0.97 [[ 9.95793189e-01 -6.47349782e-04 -9.16269952e-02 -1.00573313e+01] [ 5.89325721e-04 9.99999608e-01 -6.60318382e-04 3.46478999e-02] [ 9.16273868e-02 6.03542402e-04 9.95793180e-01 9.69997555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622557844 meters Centerline goodness : 0.200627 with order 3 Centerline is valid? [False, False] Translation: X:-10.06, Y:0.03, Z:0.97 [[ 9.95800837e-01 -4.67088275e-04 -9.15449326e-02 -1.00574663e+01] [ 4.32882939e-04 9.99999829e-01 -3.93500776e-04 3.35888567e-02] [ 9.15451008e-02 3.52220163e-04 9.95800869e-01 9.69860641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68255784399997 meters Centerline goodness : 0.134089 with order 1 Centerline is valid? [False, False] Translation: X:-10.06, Y:0.03, Z:0.97 [[ 9.95788531e-01 -1.62474984e-04 -9.16797456e-02 -1.00571743e+01] [ 1.86134242e-04 9.99999952e-01 2.49513863e-04 3.03228727e-02] [ 9.16797006e-02 -2.65527783e-04 9.95788513e-01 9.69966051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74255784399998 meters Centerline goodness : 0.136072 with order 1 Centerline is valid? [False, False] Translation: X:-10.06, Y:0.03, Z:0.97 [[ 9.95765128e-01 1.73825266e-04 -9.19335569e-02 -1.00561672e+01] [-7.62908377e-05 9.99999431e-01 1.06443626e-03 2.63837419e-02] [ 9.19336895e-02 -1.05291482e-03 9.95764575e-01 9.69592988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80255784399998 meters Centerline goodness : 0.176969 with order 3 Centerline is valid? [False, False] Translation: X:-10.06, Y:0.02, Z:0.97 [[ 9.95775795e-01 -3.76643758e-03 -9.17408261e-02 -1.00568410e+01] [ 3.61488173e-03 9.99991814e-01 -1.81811110e-03 2.06036161e-02] [ 9.17469229e-02 1.47879879e-03 9.95781259e-01 9.69995874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86255784399998 meters Centerline goodness : 0.093764 with order 1 Centerline is valid? [False, False] Translation: X:-10.05, Y:0.02, Z:0.97 [[ 9.95706809e-01 -3.56933443e-03 -9.24943835e-02 -1.00544437e+01] [ 3.50271162e-03 9.99993476e-01 -8.82619420e-04 1.53949038e-02] [ 9.24969304e-02 5.54849014e-04 9.95712815e-01 9.69551715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92255784399998 meters Centerline goodness : 0.112702 with order 2 Centerline is valid? [False, False] Translation: X:-10.06, Y:0.01, Z:0.97 [[ 9.95727199e-01 -3.11524063e-03 -9.22910681e-02 -1.00551817e+01] [ 3.13976552e-03 9.99995064e-01 1.20539011e-04 1.05822271e-02] [ 9.22902371e-02 -4.09796286e-04 9.95732064e-01 9.70009400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98255784399998 meters Centerline goodness : 0.089719 with order 1 Centerline is valid? [False, False] Translation: X:-10.06, Y:0.01, Z:0.97 [[ 9.95743999e-01 -2.82762408e-03 -9.21189042e-02 -1.00561612e+01] [ 2.90480551e-03 9.99995533e-01 7.03777403e-04 7.82249960e-03] [ 9.21165027e-02 -9.68369626e-04 9.95747765e-01 9.70769509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042557844 meters Centerline goodness : 0.092220 with order 1 Centerline is valid? [False, False] Translation: X:-10.06, Y:0.01, Z:0.97 [[ 9.95738338e-01 -2.59298055e-03 -9.21869725e-02 -1.00558500e+01] [ 2.72103542e-03 9.99995500e-01 1.26341499e-03 5.21760963e-03] [ 9.21832817e-02 -1.50887476e-03 9.95740913e-01 9.70665452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102557844 meters Centerline goodness : 0.133648 with order 3 Centerline is valid? [False, False] Translation: X:-10.06, Y:-0.00, Z:0.97 [[ 9.95754809e-01 -6.48146012e-03 -9.18169460e-02 -1.00575752e+01] [ 6.38763512e-03 9.99978733e-01 -1.31570372e-03 -2.35461454e-03] [ 9.18235210e-02 7.23625160e-04 9.95775034e-01 9.71895847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162557844 meters Centerline goodness : 0.225467 with order 3 Centerline is valid? [False, False] Translation: X:-10.06, Y:-0.01, Z:0.97 [[ 9.95745708e-01 -6.50746394e-03 -9.19137478e-02 -1.00568896e+01] [ 6.50147388e-03 9.99978799e-01 -3.64594689e-04 -1.00374693e-02] [ 9.19141717e-02 -2.34531233e-04 9.95766905e-01 9.71658682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222557844 meters Centerline goodness : 0.144844 with order 1 Centerline is valid? [False, False] Translation: X:-10.06, Y:-0.02, Z:0.97 [[ 9.95711541e-01 -1.01595174e-02 -9.19527678e-02 -1.00563602e+01] [ 9.94545324e-03 9.99946662e-01 -2.78591907e-03 -1.87778602e-02] [ 9.19761668e-02 1.85945982e-03 9.95759473e-01 9.71441995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282557844 meters Centerline goodness : 0.394045 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.03, Z:0.97 [[ 9.95722424e-01 -1.93499881e-03 -9.23748309e-02 -1.00759497e+01] [ 1.64594435e-03 9.99993509e-01 -3.20522970e-03 -3.01735126e-02] [ 9.23804334e-02 3.03947526e-03 9.95719146e-01 9.68644509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342557844 meters Centerline goodness : 0.190718 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.03, Z:0.97 [[ 9.95741540e-01 -1.15587531e-03 -9.21816151e-02 -1.00763679e+01] [ 9.56822445e-04 9.99997114e-01 -2.20352098e-03 -3.42365905e-02] [ 9.21838961e-02 2.10593594e-03 9.95739772e-01 9.68468604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40255784399997 meters Centerline goodness : 0.146061 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.04, Z:0.97 [[ 9.95755530e-01 -5.23006005e-04 -9.20361387e-02 -1.00771019e+01] [ 4.39170333e-04 9.99999470e-01 -9.31149883e-04 -4.06898597e-02] [ 9.20365769e-02 8.86778103e-04 9.95755232e-01 9.68982535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46255784399997 meters Centerline goodness : 0.137893 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.05, Z:0.97 [[ 9.95736466e-01 -3.67518356e-05 -9.22436440e-02 -1.00767497e+01] [ 5.13198529e-05 9.99999987e-01 1.55557751e-04 -4.60684194e-02] [ 9.22436370e-02 -1.59628455e-04 9.95736454e-01 9.69394247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52255784399998 meters Centerline goodness : 0.145677 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.05, Z:0.97 [[ 9.95752222e-01 -3.64737514e-03 -9.20011386e-02 -1.00776142e+01] [ 3.43819275e-03 9.99991132e-01 -2.43208641e-03 -5.21896320e-02] [ 9.20091935e-02 2.10543779e-03 9.95755932e-01 9.69705534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58255784399998 meters Centerline goodness : 0.130663 with order 2 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.06, Z:0.97 [[ 9.95742728e-01 -3.09089841e-03 -9.21241895e-02 -1.00770774e+01] [ 2.99445353e-03 9.99994814e-01 -1.18510737e-03 -5.80719093e-02] [ 9.21273748e-02 9.04200443e-04 9.95746820e-01 9.69555763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64255784399998 meters Centerline goodness : 0.234618 with order 3 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.07, Z:0.97 [[ 9.95671678e-01 -3.05513753e-03 -9.28901236e-02 -1.00743463e+01] [ 3.01213137e-03 9.99995282e-01 -6.03177362e-04 -6.71160230e-02] [ 9.28915281e-02 3.20769361e-04 9.95676183e-01 9.68908369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70255784399998 meters Centerline goodness : 0.391330 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.07, Z:0.97 [[ 9.95641657e-01 -2.25684383e-03 -9.32341038e-02 -1.00731033e+01] [ 2.27302684e-03 9.99997414e-01 6.73810956e-05 -6.86880834e-02] [ 9.32337107e-02 -2.79011046e-04 9.95644212e-01 9.68347239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76255784399999 meters Centerline goodness : 0.401268 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.07, Z:0.97 [[ 9.95659427e-01 -2.10985655e-03 -9.30475945e-02 -1.00736168e+01] [ 2.11102133e-03 9.99997768e-01 -8.59081771e-05 -6.73796943e-02] [ 9.30475681e-02 -1.10890170e-04 9.95661658e-01 9.68258133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822557844 meters Centerline goodness : 0.157182 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.07, Z:0.97 [[ 9.95653643e-01 -2.07914995e-03 -9.31101466e-02 -1.00729953e+01] [ 2.06828890e-03 9.99997838e-01 -2.13146243e-04 -6.64197583e-02] [ 9.31103885e-02 1.96411504e-05 9.95655792e-01 9.67461773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882557844 meters Centerline goodness : 0.154563 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.07, Z:0.97 [[ 9.95652293e-01 -2.07360495e-03 -9.31247149e-02 -1.00732688e+01] [ 2.07954584e-03 9.99997837e-01 -3.32445093e-05 -6.73819341e-02] [ 9.31245824e-02 -1.60557141e-04 9.95654451e-01 9.67942212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942557844 meters Centerline goodness : 0.155978 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.07, Z:0.97 [[ 9.95746672e-01 -2.39236808e-03 -9.21023490e-02 -1.00763302e+01] [ 2.41419088e-03 9.99997078e-01 1.25528157e-04 -6.93422571e-02] [ 9.21017795e-02 -3.47346895e-04 9.95749538e-01 9.68652029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002557844 meters Centerline goodness : 0.398670 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.07, Z:0.97 [[ 9.95768770e-01 -2.30020110e-03 -9.18654738e-02 -1.00772817e+01] [ 2.34332930e-03 9.99997189e-01 3.61610344e-04 -7.04785857e-02] [ 9.18643838e-02 -5.75351344e-04 9.95771361e-01 9.69130567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062557844 meters Centerline goodness : 0.363437 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.07, Z:0.97 [[ 9.95755940e-01 -2.02287854e-03 -9.20109584e-02 -1.00765947e+01] [ 2.13137870e-03 9.99997144e-01 1.08096077e-03 -7.40760670e-02] [ 9.20085090e-02 -1.27248331e-03 9.95757408e-01 9.68789747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122557844 meters Centerline goodness : 0.161800 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.08, Z:0.97 [[ 9.95727456e-01 -1.84198429e-03 -9.23224794e-02 -1.00749616e+01] [ 1.99375314e-03 9.99996809e-01 1.55169502e-03 -7.66864881e-02] [ 9.23193266e-02 -1.72913357e-03 9.95727951e-01 9.67707430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18255784399997 meters Centerline goodness : 0.398162 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.08, Z:0.97 [[ 9.95751967e-01 -1.44907980e-03 -9.20647622e-02 -1.00753699e+01] [ 1.62922937e-03 9.99996903e-01 1.88164316e-03 -7.75290775e-02] [ 9.20617503e-02 -2.02364449e-03 9.95751244e-01 9.67272702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24255784399998 meters Centerline goodness : 0.219966 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.08, Z:0.97 [[ 9.95722796e-01 -1.22921120e-03 -9.23829153e-02 -1.00741134e+01] [ 1.39384203e-03 9.99997554e-01 1.71754798e-03 -7.59074050e-02] [ 9.23805780e-02 -1.83896886e-03 9.95722073e-01 9.66521960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30255784399998 meters Centerline goodness : 0.227095 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.07, Z:0.97 [[ 9.95761940e-01 -1.38349645e-03 -9.19578430e-02 -1.00756090e+01] [ 1.51146025e-03 9.99997984e-01 1.32192016e-03 -7.40813728e-02] [ 9.19558287e-02 -1.45530841e-03 9.95762024e-01 9.66914461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36255784399998 meters Centerline goodness : 0.263789 with order 1 Centerline is valid? [False, False] Translation: X:-10.12, Y:-0.08, Z:0.96 [[ 9.95450892e-01 -2.20024949e-03 -9.52506233e-02 -1.01183894e+01] [ 2.36002348e-03 9.99995991e-01 1.56478558e-03 -7.69129742e-02] [ 9.52467985e-02 -1.78246091e-03 9.95452093e-01 9.63459178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42255784399998 meters Centerline goodness : 0.157932 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.07, Z:0.97 [[ 9.95655371e-01 -4.31504724e-03 -9.30148531e-02 -1.00759733e+01] [ 4.28538115e-03 9.99990683e-01 -5.18672907e-04 -7.23349947e-02] [ 9.30162246e-02 1.17815368e-04 9.95664586e-01 9.67083337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48255784399998 meters Centerline goodness : 0.212188 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.07, Z:0.97 [[ 9.95720102e-01 -5.15197009e-03 -9.22764118e-02 -1.00785037e+01] [ 5.10389110e-03 9.99986689e-01 -7.57014154e-04 -7.31926558e-02] [ 9.22790835e-02 2.82805454e-04 9.95733142e-01 9.68042631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542557844 meters Centerline goodness : 0.394456 with order 1 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.08, Z:0.97 [[ 9.95686089e-01 -3.30428279e-04 -9.27852540e-02 -1.01006594e+01] [-3.89513184e-05 9.99992082e-01 -3.97917699e-03 -7.87871980e-02] [ 9.27858342e-02 3.96562529e-03 9.95678192e-01 9.66451148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602557844 meters Centerline goodness : 0.160990 with order 1 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.08, Z:0.97 [[ 9.95628458e-01 -5.47266838e-04 -9.34006140e-02 -1.00991069e+01] [ 2.02374996e-04 9.99993127e-01 -3.70203960e-03 -8.11955984e-02] [ 9.34019981e-02 3.66695403e-03 9.95621725e-01 9.66611943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662557844 meters Centerline goodness : 0.125484 with order 3 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.09, Z:0.97 [[ 9.95714832e-01 -3.25603622e-03 -9.24195421e-02 -1.01035567e+01] [ 2.77503561e-03 9.99981931e-01 -5.33256561e-03 -8.78751345e-02] [ 9.24352352e-02 5.05324715e-03 9.95705876e-01 9.68689874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722557844 meters Centerline goodness : 0.134907 with order 3 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.09, Z:0.97 [[ 9.95671127e-01 -3.34564153e-03 -9.28860217e-02 -1.01019437e+01] [ 2.92000409e-03 9.99984607e-01 -4.71789251e-03 -9.25508725e-02] [ 9.29003763e-02 4.42624179e-03 9.95665571e-01 9.68294528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782557844 meters Centerline goodness : 0.133205 with order 3 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.10, Z:0.97 [[ 9.95694203e-01 -2.78604780e-03 -9.26568511e-02 -1.01031103e+01] [ 2.47209142e-03 9.99990809e-01 -3.50297994e-03 -9.87460289e-02] [ 9.26657589e-02 3.25884061e-03 9.95691939e-01 9.69139854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842557844 meters Centerline goodness : 0.171285 with order 1 Centerline is valid? [False, False] Translation: X:-10.12, Y:-0.11, Z:0.97 [[ 9.95648608e-01 5.58861264e-03 -9.30194410e-02 -1.01232566e+01] [-6.00684423e-03 9.99973068e-01 -4.21679557e-03 -1.05093825e-01] [ 9.29933697e-02 4.75719993e-03 9.95655363e-01 9.65669167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90255784399997 meters Centerline goodness : 0.155210 with order 3 Centerline is valid? [False, False] Translation: X:-10.12, Y:-0.10, Z:0.96 [[ 9.95511303e-01 8.86095077e-03 -9.42270117e-02 -1.01172347e+01] [-9.07765526e-03 9.99957046e-01 -1.87141934e-03 -1.02232572e-01] [ 9.42063817e-02 2.71837943e-03 9.95548978e-01 9.62743151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96255784399997 meters Centerline goodness : 0.140807 with order 2 Centerline is valid? [False, False] Translation: X:-10.12, Y:-0.10, Z:0.96 [[ 9.95501642e-01 9.16520136e-03 -9.42999431e-02 -1.01172842e+01] [-9.41879701e-03 9.99953123e-01 -2.24449942e-03 -9.93531120e-02] [ 9.42749513e-02 3.12259488e-03 9.95541301e-01 9.62950116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02255784399998 meters Centerline goodness : 0.133064 with order 3 Centerline is valid? [False, False] Translation: X:-10.13, Y:-0.09, Z:0.96 [[ 9.95395651e-01 1.09283222e-03 -9.58452085e-02 -1.01347734e+01] [-1.16041591e-03 9.99999116e-01 -6.49398110e-04 -9.36638094e-02] [ 9.58444141e-02 7.57628359e-04 9.95396039e-01 9.59121052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08255784399998 meters Centerline goodness : 0.147547 with order 2 Centerline is valid? [False, False] Translation: X:-10.14, Y:-0.09, Z:0.96 [[ 9.95425604e-01 8.71243026e-04 -9.55358934e-02 -1.01362135e+01] [-9.77316282e-04 9.99998957e-01 -1.06351163e-03 -9.16806890e-02] [ 9.55348672e-02 1.15201549e-03 9.95425418e-01 9.59945186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14255784399998 meters Centerline goodness : 0.139253 with order 2 Centerline is valid? [False, False] Translation: X:-10.14, Y:-0.09, Z:0.96 [[ 9.95434118e-01 7.34401298e-04 -9.54482933e-02 -1.01365452e+01] [-8.72898208e-04 9.99998626e-01 -1.40926951e-03 -8.95594771e-02] [ 9.54471272e-02 1.48615160e-03 9.95433392e-01 9.59982847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20255784399998 meters Centerline goodness : 0.122043 with order 2 Centerline is valid? [False, False] Translation: X:-10.14, Y:-0.09, Z:0.96 [[ 9.95423953e-01 4.79274875e-04 -9.55558703e-02 -1.01356673e+01] [-6.57446853e-04 9.99998104e-01 -1.83310956e-03 -8.76119049e-02] [ 9.55548105e-02 1.88754407e-03 9.95422380e-01 9.59108662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26255784399999 meters Centerline goodness : 0.393066 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.09, Z:0.96 [[ 9.95172286e-01 -8.05087403e-04 -9.81400647e-02 -1.01819244e+01] [ 6.06786434e-04 9.99997714e-01 -2.05042171e-03 -8.99057864e-02] [ 9.81414911e-02 1.98097280e-03 9.95170500e-01 9.56993488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322557844 meters Centerline goodness : 0.166885 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.09, Z:0.96 [[ 9.95167086e-01 -9.01742978e-04 -9.81919483e-02 -1.01816681e+01] [ 6.82646367e-04 9.99997202e-01 -2.26488285e-03 -8.85051951e-02] [ 9.81937159e-02 2.18690649e-03 9.95164917e-01 9.56796826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382557844 meters Centerline goodness : 0.160534 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.09, Z:0.96 [[ 9.95195105e-01 -9.28605584e-04 -9.79073031e-02 -1.01825746e+01] [ 6.99597548e-04 9.99996939e-01 -2.37333354e-03 -8.78428808e-02] [ 9.79092073e-02 2.29343421e-03 9.95192709e-01 9.57006074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442557844 meters Centerline goodness : 0.394254 with order 1 Centerline is valid? [False, False] Translation: X:-10.16, Y:-0.09, Z:0.96 [[ 9.95232913e-01 8.27011509e-03 -9.71753768e-02 -1.01614516e+01] [-8.62244715e-03 9.99957685e-01 -3.20634774e-03 -8.84937219e-02] [ 9.71447480e-02 4.02895235e-03 9.95262109e-01 9.59275321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502557844 meters Centerline goodness : 0.387868 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.09, Z:0.95 [[ 9.95503940e-01 7.13003529e-03 -9.44514089e-02 -1.02063070e+01] [-7.54911536e-03 9.99963180e-01 -4.08041899e-03 -9.07980013e-02] [ 9.44188376e-02 4.77509776e-03 9.95521111e-01 9.54452256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562557844 meters Centerline goodness : 0.389896 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.09, Z:0.95 [[ 9.95505603e-01 7.14017645e-03 -9.44331123e-02 -1.02062593e+01] [-7.56657503e-03 9.99962728e-01 -4.15804899e-03 -9.01951689e-02] [ 9.43999034e-02 4.85389630e-03 9.95522525e-01 9.54291624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622557844 meters Centerline goodness : 0.126906 with order 2 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.08, Z:0.96 [[ 9.95463006e-01 2.41824979e-04 -9.51490722e-02 -1.01873911e+01] [-5.40875594e-04 9.99994995e-01 -3.11719146e-03 -8.41348262e-02] [ 9.51478422e-02 3.15451259e-03 9.95458154e-01 9.57513069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68255784399997 meters Centerline goodness : 0.298724 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.09, Z:0.96 [[ 9.95445706e-01 3.52511073e-04 -9.53295439e-02 -1.01868596e+01] [-6.23680608e-04 9.99995844e-01 -2.81476827e-03 -8.58627918e-02] [ 9.53281555e-02 2.86140418e-03 9.95441789e-01 9.57413698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74255784399998 meters Centerline goodness : 0.213190 with order 1 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.09, Z:0.96 [[ 9.95571258e-01 -7.27821026e-03 -9.37277897e-02 -1.01683404e+01] [ 7.22322767e-03 9.99973484e-01 -9.25866448e-04 -8.60159260e-02] [ 9.37320431e-02 2.44748860e-04 9.95597431e-01 9.61198193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80255784399998 meters Centerline goodness : 0.131838 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.09, Z:0.96 [[ 9.95612983e-01 -7.12767772e-03 -9.32951501e-02 -1.01697032e+01] [ 7.14520573e-03 9.99974462e-01 -1.46160888e-04 -9.05883671e-02] [ 9.32938094e-02 -5.21093364e-04 9.95638485e-01 9.61673238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86255784399998 meters Centerline goodness : 0.131990 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.09, Z:0.96 [[ 9.95617325e-01 -6.78841701e-03 -9.32741079e-02 -1.01696073e+01] [ 6.87014285e-03 9.99976246e-01 5.55111059e-04 -9.38930190e-02] [ 9.32681240e-02 -1.19348463e-03 9.95640313e-01 9.61530883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92255784399998 meters Centerline goodness : 0.130191 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.10, Z:0.96 [[ 9.95610801e-01 -6.56451029e-03 -9.33597402e-02 -1.01695213e+01] [ 6.68829762e-03 9.99977120e-01 1.01308393e-03 -9.62009654e-02] [ 9.33509537e-02 -1.63305503e-03 9.95631926e-01 9.61771619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98255784399998 meters Centerline goodness : 0.133993 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.10, Z:0.96 [[ 9.95618998e-01 -6.08153581e-03 -9.33050150e-02 -1.01698267e+01] [ 6.30613857e-03 9.99977885e-01 2.11253427e-03 -1.01662280e-01] [ 9.32901041e-02 -2.69167361e-03 9.95635331e-01 9.62098729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042557844 meters Centerline goodness : 0.125718 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.11, Z:0.96 [[ 9.95648938e-01 -5.60890819e-03 -9.30146908e-02 -1.01707871e+01] [ 5.92257532e-03 9.99977667e-01 3.09653133e-03 -1.06004801e-01] [ 9.29952454e-02 -3.63394464e-03 9.95659921e-01 9.62464955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102557844 meters Centerline goodness : 0.130386 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.11, Z:0.96 [[ 9.95598395e-01 -8.83310799e-03 -9.33049394e-02 -1.01684717e+01] [ 8.98041833e-03 9.99959004e-01 1.15904057e-03 -1.14900398e-01] [ 9.32908763e-02 -1.99185632e-03 9.95636904e-01 9.61072149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162557844 meters Centerline goodness : 0.194746 with order 3 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.13, Z:0.96 [[ 9.95618212e-01 -3.69982767e-03 -9.34381470e-02 -1.01470611e+01] [ 3.54911458e-03 9.99992119e-01 -1.77909566e-03 -1.25482983e-01] [ 9.34439929e-02 1.43967735e-03 9.95623497e-01 9.63256901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222557844 meters Centerline goodness : 0.135564 with order 3 Centerline is valid? [False, False] Translation: X:-10.14, Y:-0.14, Z:0.96 [[ 9.95558331e-01 -2.91478085e-03 -9.41016095e-02 -1.01447391e+01] [ 2.92529475e-03 9.99995721e-01 -2.62144521e-05 -1.36767682e-01] [ 9.41012833e-02 -2.49176928e-04 9.95562598e-01 9.62699739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282557844 meters Centerline goodness : 0.141114 with order 3 Centerline is valid? [False, False] Translation: X:-10.12, Y:-0.15, Z:0.96 [[ 9.95473097e-01 3.68179720e-03 -9.49724024e-02 -1.01225418e+01] [-3.93417110e-03 9.99989210e-01 -2.47023363e-03 -1.46198102e-01] [ 9.49622828e-02 2.83268880e-03 9.95476841e-01 9.64883397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342557844 meters Centerline goodness : 0.129505 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.15, Z:0.96 [[ 9.95115689e-01 4.42003984e-03 -9.86165724e-02 -1.01657277e+01] [-4.53670015e-03 9.99989250e-01 -9.58755477e-04 -1.52627939e-01] [ 9.86112745e-02 1.40146644e-03 9.95125044e-01 9.61994110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40255784399997 meters Centerline goodness : 0.127411 with order 3 Centerline is valid? [False, False] Translation: X:-10.16, Y:-0.15, Z:0.96 [[ 9.95096886e-01 5.15830032e-03 -9.87703356e-02 -1.01646380e+01] [-5.23958135e-03 9.99986115e-01 -5.63553746e-04 -1.52827902e-01] [ 9.87660571e-02 1.07830579e-03 9.95110096e-01 9.60830072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46255784399997 meters Centerline goodness : 0.135066 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.15, Z:0.96 [[ 9.95151960e-01 5.27692236e-03 -9.82075892e-02 -1.01662281e+01] [-5.35991757e-03 9.99985467e-01 -5.81287195e-04 -1.52145563e-01] [ 9.82030945e-02 1.10485367e-03 9.95165781e-01 9.60917573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52255784399998 meters Centerline goodness : 0.130454 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.15, Z:0.96 [[ 9.95203441e-01 1.06951809e-03 -9.78210999e-02 -1.01669919e+01] [-1.52422053e-03 9.99988379e-01 -4.57369475e-03 -1.51915872e-01] [ 9.78150714e-02 4.70085768e-03 9.95193506e-01 9.60471306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58255784399998 meters Centerline goodness : 0.128737 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.15, Z:0.96 [[ 9.95168485e-01 1.16382324e-03 -9.81750089e-02 -1.01658120e+01] [-1.58106206e-03 9.99990046e-01 -4.17225818e-03 -1.54080965e-01] [ 9.81691759e-02 4.30732064e-03 9.95160419e-01 9.60115393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64255784399998 meters Centerline goodness : 0.135693 with order 3 Centerline is valid? [False, False] Translation: X:-10.16, Y:-0.16, Z:0.96 [[ 9.95139228e-01 1.23344388e-03 -9.84702781e-02 -1.01647604e+01] [-1.62903111e-03 9.99990923e-01 -3.93702632e-03 -1.55353611e-01] [ 9.84645282e-02 4.07830048e-03 9.95132204e-01 9.59779399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70255784399998 meters Centerline goodness : 0.122645 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.15, Z:0.96 [[ 9.95168149e-01 1.22149973e-03 -9.81777159e-02 -1.01658946e+01] [-1.63193867e-03 9.99990262e-01 -4.10037608e-03 -1.54102447e-01] [ 9.81717513e-02 4.24078368e-03 9.95160451e-01 9.60202121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76255784399999 meters Centerline goodness : 0.127325 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.15, Z:0.96 [[ 9.95170542e-01 7.71376617e-04 -9.81580233e-02 -1.01652460e+01] [-1.27537264e-03 9.99986325e-01 -5.07189522e-03 -1.49863568e-01] [ 9.81527687e-02 5.17258877e-03 9.95157916e-01 9.59161830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822557844 meters Centerline goodness : 0.127855 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.15, Z:0.96 [[ 9.95017310e-01 4.83084339e-04 -9.97011491e-02 -1.02146076e+01] [-8.90606980e-04 9.99991431e-01 -4.04297409e-03 -1.51823304e-01] [ 9.96983416e-02 4.11162374e-03 9.95009214e-01 9.57791002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882557844 meters Centerline goodness : 0.135311 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.15, Z:0.96 [[ 9.94955465e-01 3.05045243e-04 -1.00317143e-01 -1.02133033e+01] [-7.17281924e-04 9.99991447e-01 -4.07329122e-03 -1.52149749e-01] [ 1.00315042e-01 4.12469904e-03 9.94947174e-01 9.58280029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942557844 meters Centerline goodness : 0.142580 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.15, Z:0.96 [[ 9.94929329e-01 2.84430689e-04 -1.00576089e-01 -1.02128730e+01] [-6.74243477e-04 9.99992393e-01 -3.84182849e-03 -1.53723808e-01] [ 1.00574231e-01 3.89016061e-03 9.94921952e-01 9.58634956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002557844 meters Centerline goodness : 0.124626 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.16, Z:0.96 [[ 9.95000009e-01 5.20328676e-04 -9.98734791e-02 -1.02154737e+01] [-8.61726862e-04 9.99993933e-01 -3.37519749e-03 -1.55383156e-01] [ 9.98711169e-02 3.44438520e-03 9.94994420e-01 9.59765018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062557844 meters Centerline goodness : 0.125888 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.16, Z:0.96 [[ 9.95014746e-01 6.09091939e-04 -9.97260464e-02 -1.02159710e+01] [-9.33587297e-04 9.99994421e-01 -3.20723218e-03 -1.56334584e-01] [ 9.97235365e-02 3.28434629e-03 9.95009763e-01 9.59923709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122557844 meters Centerline goodness : 0.136987 with order 3 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.16, Z:0.96 [[ 9.94683337e-01 9.73013475e-03 -1.02520165e-01 -1.02342309e+01] [-1.01277382e-02 9.99943073e-01 -3.35847705e-03 -1.58885467e-01] [ 1.02481650e-01 4.37891855e-03 9.94725257e-01 9.56489653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18255784399997 meters Centerline goodness : 0.127968 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.15, Z:0.96 [[ 9.94829886e-01 1.20434037e-02 -1.00838756e-01 -1.01898104e+01] [-1.24260165e-02 9.99917779e-01 -3.16702723e-03 -1.51524418e-01] [ 1.00792323e-01 4.40367738e-03 9.94897741e-01 9.59471556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24255784399998 meters Centerline goodness : 0.153401 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.15, Z:0.96 [[ 9.94799913e-01 1.15457301e-02 -1.01192044e-01 -1.01883124e+01] [-1.20403084e-02 9.99918361e-01 -4.27810456e-03 -1.46275908e-01] [ 1.01134389e-01 5.47424146e-03 9.94857712e-01 9.58578356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30255784399998 meters Centerline goodness : 0.228321 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.14, Z:0.96 [[ 9.94781141e-01 1.12933051e-02 -1.01404844e-01 -1.01879010e+01] [-1.18283009e-02 9.99919109e-01 -4.67609882e-03 -1.44699394e-01] [ 1.01343833e-01 5.85114192e-03 9.94834253e-01 9.58742033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36255784399998 meters Centerline goodness : 0.131362 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.14, Z:0.96 [[ 9.94896861e-01 1.07777588e-02 -1.00319869e-01 -1.01909609e+01] [-1.13252684e-02 9.99923912e-01 -4.88971219e-03 -1.44344197e-01] [ 1.00259536e-01 6.00090875e-03 9.94943222e-01 9.58831133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42255784399998 meters Centerline goodness : 0.132243 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.14, Z:0.96 [[ 9.94915654e-01 6.57470450e-03 -1.00496843e-01 -1.01897111e+01] [-7.48943711e-03 9.99933867e-01 -8.72752317e-03 -1.43677455e-01] [ 1.00432816e-01 9.43581420e-03 9.94899098e-01 9.57601280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48255784399998 meters Centerline goodness : 0.136518 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.14, Z:0.96 [[ 9.94928082e-01 -2.35175313e-03 -1.00561325e-01 -1.02119808e+01] [ 1.65093728e-03 9.99973774e-01 -7.05169303e-03 -1.43500636e-01] [ 1.00575271e-01 6.84990698e-03 9.94905872e-01 9.55492656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542557844 meters Centerline goodness : 0.135077 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.14, Z:0.96 [[ 9.95221189e-01 -1.16675742e-02 -9.69466483e-02 -1.01935682e+01] [ 1.10193060e-02 9.99913222e-01 -7.21958791e-03 -1.43407739e-01] [ 9.70224706e-02 6.11680208e-03 9.95263395e-01 9.58119209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602557844 meters Centerline goodness : 0.130736 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.15, Z:0.96 [[ 9.95434071e-01 -4.15097767e-03 -9.53613150e-02 -1.02149737e+01] [ 3.46544462e-03 9.99966959e-01 -7.35328445e-03 -1.50824974e-01] [ 9.53886875e-02 6.98924051e-03 9.95415566e-01 9.55816557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662557844 meters Centerline goodness : 0.150303 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.15, Z:0.96 [[ 9.95458962e-01 -4.03594196e-03 -9.51060824e-02 -1.02162232e+01] [ 3.36987067e-03 9.99968667e-01 -7.16302814e-03 -1.51547131e-01] [ 9.51320120e-02 6.81000535e-03 9.95441372e-01 9.56670336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722557844 meters Centerline goodness : 0.134001 with order 3 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.16, Z:0.96 [[ 9.95536995e-01 4.37115816e-03 -9.42708011e-02 -1.01974061e+01] [-5.20436094e-03 9.99949525e-01 -8.59435070e-03 -1.56924721e-01] [ 9.42284755e-02 9.04661335e-03 9.95509494e-01 9.59810028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782557844 meters Centerline goodness : 0.135183 with order 3 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.16, Z:0.96 [[ 9.95526651e-01 4.46364607e-03 -9.43756472e-02 -1.01969096e+01] [-5.28329894e-03 9.99950451e-01 -8.43692218e-03 -1.57681855e-01] [ 9.43333116e-02 8.89779564e-03 9.95500907e-01 9.59547894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842557844 meters Centerline goodness : 0.222536 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:0.96 [[ 9.95470325e-01 4.52208952e-03 -9.49651655e-02 -1.01949567e+01] [-5.33023839e-03 9.99951696e-01 -8.25800759e-03 -1.59146810e-01] [ 9.49232349e-02 8.72678847e-03 9.95446343e-01 9.59178176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90255784399997 meters Centerline goodness : 0.131748 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:0.96 [[ 9.95453011e-01 4.79455985e-03 -9.51331459e-02 -1.01945865e+01] [-5.56290022e-03 9.99954005e-01 -7.81290728e-03 -1.61161176e-01] [ 9.50913108e-02 8.30659827e-03 9.95433897e-01 9.59378926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96255784399997 meters Centerline goodness : 0.123341 with order 3 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.16, Z:0.96 [[ 9.95482365e-01 4.91038966e-03 -9.48195624e-02 -1.01955035e+01] [-5.65820139e-03 9.99954963e-01 -7.61943177e-03 -1.62077060e-01] [ 9.47778776e-02 8.12151814e-03 9.95465316e-01 9.59488338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02255784399998 meters Centerline goodness : 0.137663 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:0.96 [[ 9.95323318e-01 5.74887141e-03 -9.64284311e-02 -1.01899463e+01] [-6.47137920e-03 9.99953272e-01 -7.18161474e-03 -1.62047062e-01] [ 9.63826390e-02 7.77205355e-03 9.95314012e-01 9.57808153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08255784399998 meters Centerline goodness : 0.141476 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:0.96 [[ 9.95263842e-01 5.77625918e-03 -9.70387579e-02 -1.01872597e+01] [-6.51777849e-03 9.99951921e-01 -7.32622522e-03 -1.61042644e-01] [ 9.69917742e-02 7.92400419e-03 9.95253639e-01 9.56303160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14255784399998 meters Centerline goodness : 0.138766 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:0.96 [[ 9.95292838e-01 5.95677843e-03 -9.67299462e-02 -1.01888380e+01] [-6.64986407e-03 9.99954466e-01 -6.84436324e-03 -1.63445931e-01] [ 9.66847713e-02 7.45538671e-03 9.95287131e-01 9.57378753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20255784399998 meters Centerline goodness : 0.137363 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.16, Z:0.96 [[ 9.95357935e-01 -2.18478036e-03 -9.62175048e-02 -1.01688932e+01] [ 1.63642043e-03 9.99981970e-01 -5.77771076e-03 -1.60988205e-01] [ 9.62283931e-02 5.59343796e-03 9.95343564e-01 9.59890393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26255784399999 meters Centerline goodness : 0.139767 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.16, Z:0.96 [[ 9.95365753e-01 -1.87899435e-03 -9.61430518e-02 -1.01690696e+01] [ 1.38993621e-03 9.99985755e-01 -5.15349433e-03 -1.63911853e-01] [ 9.61513656e-02 4.99597906e-03 9.95354186e-01 9.59882950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322557844 meters Centerline goodness : 0.122194 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.16, Z:0.96 [[ 9.95366992e-01 -1.66338648e-03 -9.61341953e-02 -1.01687100e+01] [ 1.17806725e-03 9.99986276e-01 -5.10488901e-03 -1.63468298e-01] [ 9.61413674e-02 4.96798548e-03 9.95355292e-01 9.59293459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382557844 meters Centerline goodness : 0.121440 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.16, Z:0.96 [[ 9.95322380e-01 -1.59960886e-03 -9.65960757e-02 -1.01674701e+01] [ 1.07877366e-03 9.99984600e-01 -5.44387184e-03 -1.61522089e-01] [ 9.66032962e-02 5.31420217e-03 9.95308777e-01 9.59116986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442557844 meters Centerline goodness : 0.124313 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.16, Z:0.96 [[ 9.95048168e-01 -4.52410279e-04 -9.93928537e-02 -1.02129835e+01] [ 1.24672828e-04 9.99994535e-01 -3.30358094e-03 -1.62751171e-01] [ 9.93938052e-02 3.27483058e-03 9.95042787e-01 9.56738843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502557844 meters Centerline goodness : 0.123428 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.16, Z:0.96 [[ 9.95281059e-01 -2.33891055e-03 -9.70058929e-02 -1.02206148e+01] [ 1.86868938e-03 9.99986062e-01 -4.93791451e-03 -1.60144781e-01] [ 9.70160902e-02 4.73333890e-03 9.95271558e-01 9.58344366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562557844 meters Centerline goodness : 0.138516 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.16, Z:0.96 [[ 9.95348690e-01 -2.86830288e-03 -9.62951641e-02 -1.02226091e+01] [ 2.40748653e-03 9.99985091e-01 -4.90130065e-03 -1.61872573e-01] [ 9.63077868e-02 4.64667387e-03 9.95340755e-01 9.58708248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622557844 meters Centerline goodness : 0.149406 with order 1 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.17, Z:0.96 [[ 9.95234999e-01 -7.24255627e-03 -9.72360118e-02 -1.02195834e+01] [ 6.45475885e-03 9.99943768e-01 -8.41403382e-03 -1.65312237e-01] [ 9.72914832e-02 7.74630593e-03 9.95225784e-01 9.58085766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68255784399997 meters Centerline goodness : 0.151102 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.17, Z:0.96 [[ 9.95219934e-01 -6.96340480e-03 -9.74104455e-02 -1.02191494e+01] [ 6.23417907e-03 9.99950236e-01 -7.78847679e-03 -1.68315435e-01] [ 9.74598323e-02 7.14397319e-03 9.95213819e-01 9.58164680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74255784399998 meters Centerline goodness : 0.220589 with order 2 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.17, Z:0.96 [[ 9.95278814e-01 -6.50312464e-03 -9.68389971e-02 -1.02210056e+01] [ 5.83823252e-03 9.99957412e-01 -7.14772522e-03 -1.70726750e-01] [ 9.68813555e-02 6.54861090e-03 9.95274394e-01 9.58632333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80255784399998 meters Centerline goodness : 0.128803 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.18, Z:0.96 [[ 9.95284603e-01 -6.06410058e-03 -9.68079799e-02 -1.02206052e+01] [ 5.49374354e-03 9.99965954e-01 -6.15709326e-03 -1.76053734e-01] [ 9.68420212e-02 5.59622190e-03 9.95284032e-01 9.58060732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86255784399998 meters Centerline goodness : 0.078208 with order 1 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.18, Z:0.96 [[ 9.95245918e-01 -5.70253879e-03 -9.72267671e-02 -1.02193816e+01] [ 5.21593208e-03 9.99972572e-01 -5.25829748e-03 -1.80829296e-01] [ 9.72540860e-02 4.72617089e-03 9.95248364e-01 9.57982308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92255784399998 meters Centerline goodness : 0.081754 with order 1 Centerline is valid? [False, False] Translation: X:-10.24, Y:-0.19, Z:0.95 [[ 9.95258502e-01 1.31396092e-03 -9.72563032e-02 -1.02364783e+01] [-1.90130920e-03 9.99980510e-01 -5.94674908e-03 -1.92085698e-01] [ 9.72465939e-02 6.10346689e-03 9.95241603e-01 9.53865855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98255784399998 meters Centerline goodness : 0.164415 with order 3 Centerline is valid? [False, False] Translation: X:-10.24, Y:-0.19, Z:0.95 [[ 9.95242863e-01 1.49928334e-03 -9.74135296e-02 -1.02355682e+01] [-2.06427506e-03 9.99981628e-01 -5.69940566e-03 -1.92988607e-01] [ 9.74031948e-02 5.87338113e-03 9.95227673e-01 9.53111956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042557844 meters Centerline goodness : 0.154150 with order 1 Centerline is valid? [False, False] Translation: X:-10.24, Y:-0.20, Z:0.95 [[ 9.95247841e-01 1.79177680e-03 -9.73577175e-02 -1.02362569e+01] [-2.28879573e-03 9.99984912e-01 -4.99363842e-03 -1.96573611e-01] [ 9.73473011e-02 5.19273978e-03 9.95236926e-01 9.53861901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102557844 meters Centerline goodness : 0.153282 with order 1 Centerline is valid? [False, False] Translation: X:-10.24, Y:-0.20, Z:0.95 [[ 9.95308958e-01 -2.11322274e-03 -9.67244184e-02 -1.02381901e+01] [ 1.32613727e-03 9.99965492e-01 -8.20096447e-03 -1.99535322e-01] [ 9.67384111e-02 8.03422354e-03 9.95277414e-01 9.54193737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162557844 meters Centerline goodness : 0.152238 with order 1 Centerline is valid? [False, False] Translation: X:-10.24, Y:-0.21, Z:0.95 [[ 9.95311826e-01 -4.55196467e-03 -9.66108120e-02 -1.02362124e+01] [ 3.66178670e-03 9.99949214e-01 -9.38936204e-03 -2.08438628e-01] [ 9.66486456e-02 8.99157489e-03 9.95277947e-01 9.52238590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222557844 meters Centerline goodness : 0.145524 with order 1 Centerline is valid? [False, False] Translation: X:-10.24, Y:-0.21, Z:0.95 [[ 9.95373919e-01 -3.96485038e-03 -9.59950032e-02 -1.02382460e+01] [ 3.15972459e-03 9.99958561e-01 -8.53772186e-03 -2.12153286e-01] [ 9.60248760e-02 8.19490790e-03 9.95345200e-01 9.52847681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282557844 meters Centerline goodness : 0.145515 with order 1 Centerline is valid? [False, False] Translation: X:-10.24, Y:-0.21, Z:0.95 [[ 9.95528312e-01 -2.80201519e-03 -9.44220768e-02 -1.02433810e+01] [ 2.10646432e-03 9.99969916e-01 -7.46526720e-03 -2.14257991e-01] [ 9.44401540e-02 7.23298811e-03 9.95504265e-01 9.53887365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342557844 meters Centerline goodness : 0.140411 with order 1 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.22, Z:0.96 [[ 9.95673240e-01 6.05962226e-03 -9.27258340e-02 -1.02259055e+01] [-6.92494357e-03 9.99935402e-01 -9.01313192e-03 -2.19266763e-01] [ 9.26652279e-02 9.61625543e-03 9.95650884e-01 9.57526836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40255784399997 meters Centerline goodness : 0.124398 with order 1 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.22, Z:0.96 [[ 9.95634765e-01 6.08515104e-03 -9.31363856e-02 -1.02238611e+01] [-6.95844707e-03 9.99934795e-01 -9.05465199e-03 -2.19255542e-01] [ 9.30752136e-02 9.66321092e-03 9.95612187e-01 9.56434798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46255784399997 meters Centerline goodness : 0.133130 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.22, Z:0.95 [[ 9.95384363e-01 8.12516610e-03 -9.56240124e-02 -1.02145020e+01] [-8.90880315e-03 9.99930121e-01 -7.77090403e-03 -2.16936664e-01] [ 9.55541904e-02 8.58693186e-03 9.95387192e-01 9.53792559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52255784399998 meters Centerline goodness : 0.144798 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.22, Z:0.95 [[ 9.95324769e-01 8.16621944e-03 -9.62388550e-02 -1.02120076e+01] [-8.97605224e-03 9.99927833e-01 -7.98489349e-03 -2.15445139e-01] [ 9.61667034e-02 8.81140726e-03 9.95326240e-01 9.52648307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58255784399998 meters Centerline goodness : 0.208858 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.22, Z:0.95 [[ 9.95352391e-01 8.11678769e-03 -9.59569431e-02 -1.02131479e+01] [-8.93087153e-03 9.99927656e-01 -8.05740388e-03 -2.15129744e-01] [ 9.58846010e-02 8.87693535e-03 9.95352874e-01 9.53163506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64255784399998 meters Centerline goodness : 0.142653 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.21, Z:0.96 [[ 9.95533513e-01 -2.77584512e-04 -9.44084114e-02 -1.01950826e+01] [-3.57879726e-04 9.99977397e-01 -6.71401509e-03 -2.11718448e-01] [ 9.44081411e-02 6.71781388e-03 9.95510911e-01 9.55390375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70255784399998 meters Centerline goodness : 0.126321 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.21, Z:0.96 [[ 9.95512851e-01 -2.72383664e-04 -9.46260499e-02 -1.01943057e+01] [-3.53315047e-04 9.99978187e-01 -6.59551352e-03 -2.12517858e-01] [ 9.46257823e-02 6.59935128e-03 9.95491040e-01 9.55069385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76255784399999 meters Centerline goodness : 0.142765 with order 1 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.21, Z:0.96 [[ 9.95540785e-01 -8.89634929e-03 -9.39116594e-02 -1.01723518e+01] [ 8.33545201e-03 9.99945014e-01 -6.36318935e-03 -2.10579792e-01] [ 9.39631047e-02 5.55201839e-03 9.95560199e-01 9.56835134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822557844 meters Centerline goodness : 0.148609 with order 1 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.21, Z:0.96 [[ 9.95530561e-01 -8.76623068e-03 -9.40321999e-02 -1.01722489e+01] [ 8.24368480e-03 9.99948353e-01 -5.94411032e-03 -2.12558699e-01] [ 9.40794509e-02 5.14237167e-03 9.95551411e-01 9.57158474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882557844 meters Centerline goodness : 0.220373 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.22, Z:0.95 [[ 9.95701692e-01 -3.65595955e-03 -9.25460674e-02 -1.01870096e+01] [ 2.96507040e-03 9.99966710e-01 -7.60175178e-03 -2.20563672e-01] [ 9.25707782e-02 7.29467151e-03 9.95679386e-01 9.51779671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942557844 meters Centerline goodness : 0.133854 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.22, Z:0.95 [[ 9.95688343e-01 -3.65847102e-03 -9.26894723e-02 -1.01867511e+01] [ 2.96753349e-03 9.99966784e-01 -7.59105632e-03 -2.20840924e-01] [ 9.27141652e-02 7.28326718e-03 9.95666128e-01 9.51989445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002557844 meters Centerline goodness : 0.154490 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.22, Z:0.95 [[ 9.95748683e-01 -3.22342027e-03 -9.20552520e-02 -1.01887020e+01] [ 2.53899146e-03 9.99968267e-01 -7.55112346e-03 -2.19522949e-01] [ 9.20766712e-02 7.28529374e-03 9.95725269e-01 9.52257671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062557844 meters Centerline goodness : 0.204224 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.22, Z:0.95 [[ 9.95750881e-01 -3.30945555e-03 -9.20284220e-02 -1.01882247e+01] [ 2.58619958e-03 9.99964837e-01 -7.97719504e-03 -2.17269235e-01] [ 9.20515862e-02 7.70529512e-03 9.95724427e-01 9.51401728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122557844 meters Centerline goodness : 0.093480 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.22, Z:0.95 [[ 9.95804264e-01 -3.23417498e-03 -9.14516736e-02 -1.01902253e+01] [ 2.48912688e-03 9.99962789e-01 -8.25978842e-03 -2.15019504e-01] [ 9.14749842e-02 7.99749771e-03 9.95775259e-01 9.51934139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18255784399997 meters Centerline goodness : 0.188885 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.21, Z:0.95 [[ 9.95810807e-01 -3.27312209e-03 -9.13790042e-02 -1.01909705e+01] [ 2.52234011e-03 9.99962120e-01 -8.33040996e-03 -2.14733822e-01] [ 9.14028092e-02 8.06502334e-03 9.95781342e-01 9.52694092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24255784399998 meters Centerline goodness : 0.155550 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.21, Z:0.95 [[ 9.95755618e-01 -3.52073736e-03 -9.19693110e-02 -1.01887920e+01] [ 2.75343706e-03 9.99960350e-01 -8.46855694e-03 -2.14708889e-01] [ 9.19954800e-02 8.17938144e-03 9.95725830e-01 9.51754764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30255784399998 meters Centerline goodness : 0.148363 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.22, Z:0.95 [[ 9.95799402e-01 -3.49160888e-03 -9.14951301e-02 -1.01906146e+01] [ 2.77607826e-03 9.99964572e-01 -7.94652243e-03 -2.17240791e-01] [ 9.15196348e-02 7.65914465e-03 9.95773817e-01 9.52594071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36255784399998 meters Centerline goodness : 0.157860 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.22, Z:0.95 [[ 9.95748640e-01 -7.67254410e-03 -9.17920339e-02 -1.01901222e+01] [ 6.67677412e-03 9.99915542e-01 -1.11502850e-02 -2.22045598e-01] [ 9.18698324e-02 1.04900065e-02 9.95715770e-01 9.53101698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42255784399998 meters Centerline goodness : 0.140198 with order 2 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.23, Z:0.95 [[ 9.95759256e-01 -1.00297807e-04 -9.19972481e-02 -1.02040659e+01] [-1.08577026e-03 9.99916945e-01 -1.28422892e-02 -2.31941399e-01] [ 9.19908953e-02 1.28877162e-02 9.95676444e-01 9.49425140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48255784399998 meters Centerline goodness : 0.172490 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.23, Z:0.95 [[ 9.95787950e-01 3.13908475e-04 -9.16856572e-02 -1.02052514e+01] [-1.43356055e-03 9.99925204e-01 -1.21462545e-02 -2.34856059e-01] [ 9.16749867e-02 1.22265308e-02 9.95713919e-01 9.50000284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542557844 meters Centerline goodness : 0.094056 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.24, Z:0.95 [[ 9.95759744e-01 3.97478529e-04 -9.19911594e-02 -1.02041075e+01] [-1.50304307e-03 9.99927476e-01 -1.19491926e-02 -2.36088718e-01] [ 9.19797383e-02 1.20367916e-02 9.95688126e-01 9.49585081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602557844 meters Centerline goodness : 0.090242 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.24, Z:0.95 [[ 9.95712771e-01 5.15853748e-04 -9.24976303e-02 -1.02022785e+01] [-1.63052488e-03 9.99926960e-01 -1.19756406e-02 -2.35738455e-01] [ 9.24846966e-02 1.20751180e-02 9.95640885e-01 9.48800312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662557844 meters Centerline goodness : 0.155924 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.23, Z:0.95 [[ 9.95797702e-01 8.09978999e-04 -9.15766421e-02 -1.02051370e+01] [-1.92371243e-03 9.99925254e-01 -1.20741484e-02 -2.33843865e-01] [ 9.15600174e-02 1.21995763e-02 9.95724828e-01 9.49351269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722557844 meters Centerline goodness : 0.146544 with order 1 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.23, Z:0.95 [[ 9.95576262e-01 1.57810229e-05 -9.39569397e-02 -1.02518043e+01] [-1.10844064e-03 9.99932368e-01 -1.15771889e-02 -2.33935572e-01] [ 9.39504025e-02 1.16301201e-02 9.95508946e-01 9.47287332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782557844 meters Centerline goodness : 0.134342 with order 3 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.23, Z:0.95 [[ 9.95525768e-01 3.73391620e-03 -9.44166473e-02 -1.02503823e+01] [-4.54991554e-03 9.99954126e-01 -8.42873871e-03 -2.30735683e-01] [ 9.43808439e-02 8.82061435e-03 9.95497088e-01 9.47075579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842557844 meters Centerline goodness : 0.367103 with order 1 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.23, Z:0.95 [[ 9.95483792e-01 3.11573620e-03 -9.48805167e-02 -1.02496928e+01] [-4.01802028e-03 9.99948494e-01 -9.32012565e-03 -2.27487067e-01] [ 9.48465907e-02 9.65926586e-03 9.95445038e-01 9.47790052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90255784399997 meters Centerline goodness : 0.126556 with order 3 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.23, Z:0.95 [[ 9.95493163e-01 2.99295886e-03 -9.47861016e-02 -1.02498435e+01] [-3.92204197e-03 9.99946063e-01 -9.61711181e-03 -2.25447418e-01] [ 9.47522055e-02 9.94552412e-03 9.95451207e-01 9.47577546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96255784399997 meters Centerline goodness : 0.317959 with order 1 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.22, Z:0.95 [[ 9.95513450e-01 2.78480615e-03 -9.45791479e-02 -1.02501170e+01] [-3.73646904e-03 9.99944147e-01 -9.88647706e-03 -2.23855554e-01] [ 9.45463334e-02 1.01955129e-02 9.95468253e-01 9.46985160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02255784399998 meters Centerline goodness : 0.130113 with order 3 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.22, Z:0.95 [[ 9.95510770e-01 2.41467147e-03 -9.46175210e-02 -1.02502614e+01] [-3.41415518e-03 9.99940059e-01 -1.04029519e-02 -2.21929431e-01] [ 9.45867299e-02 1.06792895e-02 9.95459343e-01 9.47335517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08255784399998 meters Centerline goodness : 0.084247 with order 1 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.22, Z:0.95 [[ 9.95498375e-01 2.23640569e-03 -9.47522192e-02 -1.02494347e+01] [-3.27718354e-03 9.99935983e-01 -1.08300194e-02 -2.19435131e-01] [ 9.47219332e-02 1.10917871e-02 9.95441976e-01 9.46722744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14255784399998 meters Centerline goodness : 0.082962 with order 1 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.22, Z:0.95 [[ 9.95466084e-01 2.03567823e-03 -9.50953811e-02 -1.02487303e+01] [-3.11015080e-03 9.99932977e-01 -1.11520437e-02 -2.18239485e-01] [ 9.50663056e-02 1.13972422e-02 9.95405696e-01 9.47021995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20255784399998 meters Centerline goodness : 0.223479 with order 3 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.22, Z:0.95 [[ 9.95555526e-01 2.24396027e-03 -9.41496687e-02 -1.02516988e+01] [-3.29781991e-03 9.99933626e-01 -1.10393538e-02 -2.17889748e-01] [ 9.41186477e-02 1.13007784e-02 9.95496847e-01 9.47770043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26255784399999 meters Centerline goodness : 0.131293 with order 3 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.22, Z:0.95 [[ 0.99565942 0.01059277 -0.09246687 -10.23038127] [ -0.01187002 0.99984144 -0.01327408 -0.21521768] [ 0.0923116 0.01431405 0.99562728 0.94881086] [ 0. 0. 0. 1. ]] SLAMing on 244.322557844 meters Centerline goodness : 0.129711 with order 3 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.21, Z:0.95 [[ 0.99565132 0.01075364 -0.09253547 -10.2299616 ] [ -0.01206294 0.99983473 -0.0136015 -0.21267522] [ 0.09237391 0.0146586 0.99561649 0.94855344] [ 0. 0. 0. 1. ]] SLAMing on 244.382557844 meters Centerline goodness : 0.128159 with order 3 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.21, Z:0.95 [[ 0.99561747 0.01059112 -0.09291765 -10.22888606] [ -0.01195102 0.99982929 -0.0140914 -0.21079791] [ 0.09275254 0.01514011 0.99557408 0.94867172] [ 0. 0. 0. 1. ]] SLAMing on 244.442557844 meters Centerline goodness : 0.223893 with order 2 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.21, Z:0.95 [[ 0.99561621 0.01060862 -0.09292907 -10.22910825] [ -0.0119818 0.99982694 -0.01423123 -0.20981224] [ 0.09276202 0.0152823 0.99557102 0.94904037] [ 0. 0. 0. 1. ]] SLAMing on 244.502557844 meters Centerline goodness : 0.223771 with order 2 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.21, Z:0.95 [[ 0.99561552 0.01032931 -0.09296798 -10.22885269] [ -0.0117596 0.99982058 -0.01485012 -0.20714466] [ 0.09279791 0.01587828 0.99555835 0.94889472] [ 0. 0. 0. 1. ]] SLAMing on 244.562557844 meters Centerline goodness : 0.128265 with order 3 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.20, Z:0.95 [[ 9.95523831e-01 2.40872500e-03 -9.44801593e-02 -1.02465435e+01] [-3.65858577e-03 9.99908050e-01 -1.30578295e-02 -1.99636973e-01] [ 9.44400191e-02 1.33450442e-02 9.95441105e-01 9.45966034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622557844 meters Centerline goodness : 0.130310 with order 3 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.20, Z:0.95 [[ 9.95522350e-01 2.32479628e-03 -9.44978573e-02 -1.02465223e+01] [-3.59639568e-03 9.99905239e-01 -1.32883045e-02 -1.98332276e-01] [ 9.44580100e-02 1.35686558e-02 9.95436375e-01 9.45948337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68255784399997 meters Centerline goodness : 0.150564 with order 1 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.20, Z:0.95 [[ 9.95528010e-01 1.97281260e-03 -9.44462261e-02 -1.02475433e+01] [-3.29917415e-03 9.99898094e-01 -1.38894773e-02 -1.95696897e-01] [ 9.44092001e-02 1.41389583e-02 9.95433068e-01 9.47172256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74255784399998 meters Centerline goodness : 0.139867 with order 2 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.19, Z:0.95 [[ 9.95298737e-01 -5.90107100e-03 -9.66726533e-02 -1.02686188e+01] [ 4.78419714e-03 9.99919158e-01 -1.17808763e-02 -1.92688710e-01] [ 9.67343579e-02 1.12629902e-02 9.95246507e-01 9.45903042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80255784399998 meters SLAMing on 244.86255784399998 meters Centerline goodness : 0.214487 with order 2 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.18, Z:0.95 [[ 9.95408178e-01 -6.57602374e-03 -9.54951014e-02 -1.02729217e+01] [ 5.33398788e-03 9.99897912e-01 -1.32557297e-02 -1.83523513e-01] [ 9.55725224e-02 1.26854920e-02 9.95341635e-01 9.47375075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92255784399998 meters Centerline goodness : 0.128955 with order 3 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.18, Z:0.95 [[ 9.95467512e-01 -2.69082128e-03 -9.50641490e-02 -1.02742396e+01] [ 1.72963546e-03 9.99946566e-01 -1.01918715e-02 -1.78350807e-01] [ 9.50864938e-02 9.98125064e-03 9.95418974e-01 9.47487082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98255784399998 meters Centerline goodness : 0.131013 with order 3 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.18, Z:0.95 [[ 9.95460913e-01 -3.08118734e-03 -9.51213784e-02 -1.02740047e+01] [ 2.05745720e-03 9.99938927e-01 -1.08585573e-02 -1.75621780e-01] [ 9.51490263e-02 1.06135612e-02 9.95406457e-01 9.47355495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042557844 meters Centerline goodness : 0.130597 with order 3 Centerline is valid? [False, False] Translation: X:-10.28, Y:-0.17, Z:0.95 [[ 9.95481345e-01 -3.41812051e-03 -9.48957764e-02 -1.02752482e+01] [ 2.35156054e-03 9.99932835e-01 -1.13488326e-02 -1.73352963e-01] [ 9.49281944e-02 1.10743980e-02 9.95422521e-01 9.48222436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102557844 meters Centerline goodness : 0.233772 with order 3 Centerline is valid? [False, False] Translation: X:-10.29, Y:-0.18, Z:0.94 [[ 9.95472622e-01 3.58619110e-03 -9.49810438e-02 -1.02932098e+01] [-4.83937073e-03 9.99904215e-01 -1.29669397e-02 -1.78188876e-01] [ 9.49254441e-02 1.33678820e-02 9.95394625e-01 9.44098746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162557844 meters Centerline goodness : 0.127930 with order 3 Centerline is valid? [False, False] Translation: X:-10.29, Y:-0.18, Z:0.94 [[ 9.95400874e-01 3.49937304e-03 -9.57332412e-02 -1.02906566e+01] [-4.76689345e-03 9.99903943e-01 -1.30146331e-02 -1.78607200e-01] [ 9.56785023e-02 1.34111273e-02 9.95321941e-01 9.43444883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222557844 meters Centerline goodness : 0.125353 with order 3 Centerline is valid? [False, False] Translation: X:-10.29, Y:-0.18, Z:0.94 [[ 9.95389263e-01 3.66851481e-03 -9.58475724e-02 -1.02904505e+01] [-4.90615203e-03 9.99907568e-01 -1.26800846e-02 -1.80030877e-01] [ 9.57921959e-02 1.30918628e-02 9.95315256e-01 9.43550699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282557844 meters Centerline goodness : 0.125535 with order 3 Centerline is valid? [False, False] Translation: X:-10.29, Y:-0.18, Z:0.94 [[ 9.95364182e-01 3.78759340e-03 -9.61030633e-02 -1.02896408e+01] [-5.00773455e-03 9.99909854e-01 -1.24581631e-02 -1.81307918e-01] [ 9.60472136e-02 1.28816680e-02 9.95293422e-01 9.43510866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342557844 meters Centerline goodness : 0.170436 with order 1 Centerline is valid? [False, False] Translation: X:-10.29, Y:-0.18, Z:0.94 [[ 9.95325185e-01 4.03251765e-03 -9.64961905e-02 -1.02880378e+01] [-5.19853274e-03 9.99916448e-01 -1.18351805e-02 -1.84660970e-01] [ 9.64404025e-02 1.22814918e-02 9.95262987e-01 9.42685739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40255784399997 meters Centerline goodness : 0.140627 with order 3 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.18, Z:0.95 [[ 9.95366641e-01 -3.50308448e-03 -9.60883906e-02 -1.02675400e+01] [ 2.52352870e-03 9.99943626e-01 -1.03139484e-02 -1.84644099e-01] [ 9.61191043e-02 1.00236784e-02 9.95319368e-01 9.45587644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46255784399997 meters Centerline goodness : 0.138409 with order 2 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.19, Z:0.95 [[ 9.95356862e-01 -7.54528274e-03 -9.59572100e-02 -1.02680908e+01] [ 6.28110658e-03 9.99889552e-01 -1.34696169e-02 -1.89394705e-01] [ 9.60482438e-02 1.28043581e-02 9.95294320e-01 9.45944840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52255784399998 meters Centerline goodness : 0.195672 with order 2 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.19, Z:0.95 [[ 9.95377266e-01 -7.24469774e-03 -9.57685403e-02 -1.02683827e+01] [ 6.02005486e-03 9.99896458e-01 -1.30702824e-02 -1.90651053e-01] [ 9.58533145e-02 1.24333301e-02 9.95317816e-01 9.45641429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58255784399998 meters Centerline goodness : 0.125558 with order 3 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.19, Z:0.94 [[ 9.95370664e-01 -6.93094952e-03 -9.58603363e-02 -1.02672370e+01] [ 5.71478209e-03 9.99899742e-01 -1.29556002e-02 -1.91170502e-01] [ 9.59405201e-02 1.23478035e-02 9.95310478e-01 9.44427731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64255784399998 meters Centerline goodness : 0.136569 with order 3 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.19, Z:0.94 [[ 9.95342007e-01 -3.31425178e-03 -9.63499130e-02 -1.02664922e+01] [ 2.39009418e-03 9.99950044e-01 -9.70551040e-03 -1.94866683e-01] [ 9.63772663e-02 9.43001683e-03 9.95300205e-01 9.44852126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70255784399998 meters Centerline goodness : 0.147982 with order 3 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.19, Z:0.95 [[ 9.95475038e-01 -2.46398998e-03 -9.49914643e-02 -1.02712824e+01] [ 1.58813207e-03 9.99955540e-01 -9.29488355e-03 -1.93876043e-01] [ 9.50101436e-02 9.10196556e-03 9.95434692e-01 9.46182295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76255784399999 meters Centerline goodness : 0.169497 with order 2 Centerline is valid? [False, False] Translation: X:-10.28, Y:-0.19, Z:0.95 [[ 9.95594480e-01 -2.19463744e-03 -9.37380173e-02 -1.02750450e+01] [ 1.33276454e-03 9.99956273e-01 -9.25609993e-03 -1.93118349e-01] [ 9.37542322e-02 9.09039129e-03 9.95553870e-01 9.46764613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822557844 meters Centerline goodness : 0.221526 with order 2 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.19, Z:0.95 [[ 9.95600602e-01 -2.15310686e-03 -9.36739357e-02 -1.02748119e+01] [ 1.28940339e-03 9.99956110e-01 -9.27986605e-03 -1.92648305e-01] [ 9.36898049e-02 9.11825673e-03 9.95559681e-01 9.46124587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882557844 meters Centerline goodness : 0.128236 with order 3 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.20, Z:0.95 [[ 9.95524209e-01 -2.30884640e-03 -9.44786681e-02 -1.02726792e+01] [ 1.47288370e-03 9.99959159e-01 -8.91694111e-03 -1.95487615e-01] [ 9.44953973e-02 8.73787466e-03 9.95486951e-01 9.46174856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942557844 meters Centerline goodness : 0.139224 with order 3 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.20, Z:0.95 [[ 9.95521468e-01 -6.18978286e-03 -9.43328854e-02 -1.02736735e+01] [ 5.08693144e-03 9.99915931e-01 -1.19270500e-02 -1.99560367e-01] [ 9.43987807e-02 1.13937694e-02 9.95469262e-01 9.46926358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002557844 meters Centerline goodness : 0.329700 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.21, Z:0.94 [[ 9.95308644e-01 -9.10316728e-03 -9.63215211e-02 -1.03190454e+01] [ 8.03861304e-03 9.99902313e-01 -1.14343810e-02 -2.13676483e-01] [ 9.64162009e-02 1.06064468e-02 9.95284592e-01 9.44542660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062557844 meters Centerline goodness : 0.126564 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.22, Z:0.94 [[ 9.95293109e-01 -8.82606084e-03 -9.65076535e-02 -1.03182053e+01] [ 7.80766235e-03 9.99909838e-01 -1.09250664e-02 -2.16039305e-01] [ 9.65953775e-02 1.01201442e-02 9.95272282e-01 9.44061086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122557844 meters Centerline goodness : 0.124886 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.22, Z:0.94 [[ 9.95284197e-01 -8.03233350e-03 -9.66687632e-02 -1.03179047e+01] [ 7.06536315e-03 9.99921568e-01 -1.03410781e-02 -2.17091871e-01] [ 9.67442443e-02 9.60931166e-03 9.95262886e-01 9.44075493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18255784399997 meters Centerline goodness : 0.311710 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.22, Z:0.94 [[ 9.95247368e-01 -8.04224963e-03 -9.70463765e-02 -1.03167044e+01] [ 7.08048072e-03 9.99922392e-01 -1.02507247e-02 -2.18314040e-01] [ 9.71212838e-02 9.51487176e-03 9.95227071e-01 9.43852164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24255784399998 meters Centerline goodness : 0.312414 with order 1 Centerline is valid? [False, False] Translation: X:-10.30, Y:-0.22, Z:0.95 [[ 9.95612548e-01 -8.23051061e-04 -9.35680351e-02 -1.02985425e+01] [-3.06728390e-04 9.99927236e-01 -1.20593941e-02 -2.23213508e-01] [ 9.35711522e-02 1.20351840e-02 9.95539850e-01 9.45261635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30255784399998 meters Centerline goodness : 0.352398 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-0.23, Z:0.94 [[ 9.95414669e-01 -2.50374435e-03 -9.56209652e-02 -1.03450958e+01] [ 1.41698896e-03 9.99933655e-01 -1.14314538e-02 -2.29412238e-01] [ 9.56432426e-02 1.12435429e-02 9.95352175e-01 9.43179618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36255784399998 meters Centerline goodness : 0.183656 with order 3 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.23, Z:0.94 [[ 9.95377013e-01 -2.46895424e-03 -9.60130514e-02 -1.03436022e+01] [ 1.39364272e-03 9.99935576e-01 -1.12650857e-02 -2.30529528e-01] [ 9.60346788e-02 1.10791994e-02 9.95316328e-01 9.42487940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42255784399998 meters Centerline goodness : 0.381633 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.23, Z:0.94 [[ 9.95400887e-01 -2.46225420e-03 -9.57653970e-02 -1.03440201e+01] [ 1.36241803e-03 9.99932387e-01 -1.15483842e-02 -2.28658016e-01] [ 9.57873571e-02 1.13647994e-02 9.95336940e-01 9.42099647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48255784399998 meters Centerline goodness : 0.306642 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.23, Z:0.94 [[ 9.95500816e-01 5.28562061e-03 -9.46054288e-02 -1.03224159e+01] [-6.60927280e-03 9.99884534e-01 -1.36834236e-02 -2.29056955e-01] [ 9.45221797e-02 1.42471325e-02 9.95420804e-01 9.43363955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542557844 meters Centerline goodness : 0.145946 with order 1 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.23, Z:0.94 [[ 9.95232249e-01 4.36555934e-03 -9.74356807e-02 -1.03673412e+01] [-5.67583466e-03 9.99897104e-01 -1.31744710e-02 -2.31280059e-01] [ 9.73681410e-02 1.36646873e-02 9.95154622e-01 9.40461818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602557844 meters Centerline goodness : 0.430590 with order 3 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.23, Z:0.94 [[ 9.95242180e-01 4.37933621e-03 -9.73335701e-02 -1.03673324e+01] [-5.68241128e-03 9.99897854e-01 -1.31145556e-02 -2.31380976e-01] [ 9.72661948e-02 1.36052482e-02 9.95165406e-01 9.39994600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662557844 meters Centerline goodness : 0.349675 with order 1 Centerline is valid? [False, False] Translation: X:-10.37, Y:-0.23, Z:0.94 [[ 9.95237822e-01 4.34510029e-03 -9.73796607e-02 -1.03671003e+01] [-5.64370686e-03 9.99898735e-01 -1.30640242e-02 -2.31748804e-01] [ 9.73130350e-02 1.35513933e-02 9.95161561e-01 9.39775076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722557844 meters Centerline goodness : 0.349686 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.23, Z:0.94 [[ 9.95509893e-01 6.09059856e-03 -9.44614113e-02 -1.03252797e+01] [-7.33693003e-03 9.99890487e-01 -1.28523897e-02 -2.27772895e-01] [ 9.43727878e-02 1.34877379e-02 9.95445557e-01 9.43218745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782557844 meters Centerline goodness : 0.314264 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.23, Z:0.94 [[ 9.95548532e-01 6.00672069e-03 -9.40586987e-02 -1.03265169e+01] [-7.28310642e-03 9.99885920e-01 -1.32326992e-02 -2.25682150e-01] [ 9.39684833e-02 1.38588338e-02 9.95478707e-01 9.43511188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842557844 meters Centerline goodness : 0.138076 with order 2 Centerline is valid? [False, False] Translation: X:-10.28, Y:-0.22, Z:0.95 [[ 9.95811055e-01 7.96668653e-03 -9.10871863e-02 -1.02834881e+01] [-9.22456643e-03 9.99867705e-01 -1.33969738e-02 -2.17442731e-01] [ 9.09684065e-02 1.41810944e-02 9.95752803e-01 9.46752295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90255784399997 meters Centerline goodness : 0.367989 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.22, Z:0.94 [[ 9.95466388e-01 6.87251718e-03 -9.48653710e-02 -1.03262630e+01] [-8.17582021e-03 9.99877371e-01 -1.33566104e-02 -2.18708020e-01] [ 9.47619442e-02 1.40716589e-02 9.95400503e-01 9.43989971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96255784399997 meters Centerline goodness : 0.367242 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.22, Z:0.94 [[ 9.95515595e-01 6.81501185e-03 -9.43517639e-02 -1.03279955e+01] [-8.12070659e-03 9.99876413e-01 -1.34615444e-02 -2.17544902e-01] [ 9.42483626e-02 1.41673803e-02 9.95447905e-01 9.44250772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02255784399998 meters Centerline goodness : 0.300640 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.22, Z:0.94 [[ 9.95545996e-01 6.55847440e-03 -9.40486898e-02 -1.03293612e+01] [-7.89496370e-03 9.99872977e-01 -1.38455750e-02 -2.16158092e-01] [ 9.39459376e-02 1.45264177e-02 9.95471318e-01 9.44971551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08255784399998 meters Centerline goodness : 0.147613 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-0.21, Z:0.94 [[ 9.95426675e-01 -2.70100326e-03 -9.54905174e-02 -1.03501600e+01] [ 1.46253834e-03 9.99913944e-01 -1.30371180e-02 -2.13061645e-01] [ 9.55175131e-02 1.28378365e-02 9.95344963e-01 9.42696273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14255784399998 meters Centerline goodness : 0.144751 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.21, Z:0.95 [[ 9.95358535e-01 -1.00363441e-02 -9.57113244e-02 -1.03297135e+01] [ 8.93891673e-03 9.99889381e-01 -1.18879018e-02 -2.08105253e-01] [ 9.58200480e-02 1.09771689e-02 9.95338144e-01 9.45680781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20255784399998 meters Centerline goodness : 0.143378 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.21, Z:0.95 [[ 9.95371671e-01 -1.00549852e-02 -9.55726653e-02 -1.03303099e+01] [ 8.98287198e-03 9.99891887e-01 -1.16414234e-02 -2.09733807e-01] [ 9.56793869e-02 1.07290260e-02 9.95354381e-01 9.46039111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26255784399999 meters Centerline goodness : 0.352586 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-0.21, Z:0.94 [[ 9.95266230e-01 -2.38623985e-03 -9.71567640e-02 -1.03486111e+01] [ 1.16091880e-03 9.99919104e-01 -1.26663701e-02 -2.13855767e-01] [ 9.71791294e-02 1.24936193e-02 9.95188488e-01 9.42350099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322557844 meters Centerline goodness : 0.145309 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-0.21, Z:0.94 [[ 9.95225489e-01 -2.51989083e-03 -9.75698515e-02 -1.03466125e+01] [ 1.26532801e-03 9.99915761e-01 -1.29178414e-02 -2.12964452e-01] [ 9.75941839e-02 1.27327072e-02 9.95144840e-01 9.41086828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382557844 meters Centerline goodness : 0.149675 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-0.21, Z:0.94 [[ 9.95325152e-01 -7.07610526e-04 -9.65781634e-02 -1.03520262e+01] [-3.96644833e-04 9.99934778e-01 -1.14141221e-02 -2.10452561e-01] [ 9.65799411e-02 1.13990701e-02 9.95259954e-01 9.43558379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442557844 meters Centerline goodness : 0.145679 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-0.21, Z:0.94 [[ 9.95318282e-01 -1.04138582e-03 -9.66459177e-02 -1.03514674e+01] [-1.18655004e-04 9.99928033e-01 -1.19964753e-02 -2.08056848e-01] [ 9.66514553e-02 1.19517787e-02 9.95246528e-01 9.42969136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502557844 meters Centerline goodness : 0.145223 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:-0.21, Z:0.94 [[ 9.95330756e-01 -1.11086745e-03 -9.65165915e-02 -1.03518727e+01] [-4.97178986e-05 9.99927738e-01 -1.20214868e-02 -2.07906149e-01] [ 9.65229713e-02 1.19701542e-02 9.95258776e-01 9.42996773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562557844 meters Centerline goodness : 0.147797 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.20, Z:0.95 [[ 9.95264335e-01 -1.01977824e-02 -9.66690690e-02 -1.03310027e+01] [ 9.08648459e-03 9.99887559e-01 -1.19291694e-02 -2.04526975e-01] [ 9.67798505e-02 1.09942948e-02 9.95245088e-01 9.46253837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622557844 meters Centerline goodness : 0.122116 with order 3 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.21, Z:0.95 [[ 0.99527081 -0.01430138 -0.09608057 -10.33361343] [ 0.01288854 0.99979973 -0.01530936 -0.20690905] [ 0.09628028 0.01399862 0.99525582 0.94752725] [ 0. 0. 0. 1. ]] SLAMing on 247.68255784399997 meters Centerline goodness : 0.135959 with order 2 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.21, Z:0.95 [[ 0.99541494 -0.01509863 -0.09445174 -10.3386887 ] [ 0.01373751 0.99979245 -0.01504446 -0.20860967] [ 0.09465928 0.01367795 0.99541576 0.94751241] [ 0. 0. 0. 1. ]] SLAMing on 247.74255784399998 meters Centerline goodness : 0.143483 with order 1 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.21, Z:0.94 [[ 9.95515331e-01 -5.56293393e-03 -9.44366467e-02 -1.03584010e+01] [ 4.17060607e-03 9.99879776e-01 -1.49344867e-02 -2.13988692e-01] [ 9.45083727e-02 1.44736525e-02 9.95418847e-01 9.44993034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80255784399998 meters Centerline goodness : 0.368482 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.21, Z:0.95 [[ 9.95623269e-01 3.38947325e-03 -9.33960256e-02 -1.03384376e+01] [-4.90144243e-03 9.99860551e-01 -1.59641648e-02 -2.13163476e-01] [ 9.33288915e-02 1.63520692e-02 9.95501044e-01 9.46860845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86255784399998 meters Centerline goodness : 0.287301 with order 3 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.21, Z:0.95 [[ 9.95680483e-01 4.93264871e-03 -9.27148606e-02 -1.03413847e+01] [-6.36129821e-03 9.99865453e-01 -1.51198570e-02 -2.05749590e-01] [ 9.26278051e-02 1.56443334e-02 9.95577895e-01 9.47940833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92255784399998 meters Centerline goodness : 0.119709 with order 2 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.20, Z:0.95 [[ 9.95456001e-01 -2.03905681e-03 -9.52008015e-02 -1.03212822e+01] [ 6.01076534e-04 9.99885340e-01 -1.51309416e-02 -1.96902071e-01] [ 9.52207387e-02 1.50049636e-02 9.95343088e-01 9.51471866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98255784399998 meters Centerline goodness : 0.129345 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.20, Z:0.95 [[ 9.95526158e-01 -2.44212350e-03 -9.44547802e-02 -1.03235916e+01] [ 9.83902338e-04 9.99879666e-01 -1.54817904e-02 -1.95721005e-01] [ 9.44812225e-02 1.53195931e-02 9.95408765e-01 9.51679207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042557844 meters Centerline goodness : 0.148426 with order 1 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.20, Z:0.95 [[ 9.95596602e-01 -2.79444497e-03 -9.36995009e-02 -1.03259337e+01] [ 1.33109497e-03 9.99876233e-01 -1.56763426e-02 -1.95171104e-01] [ 9.37317106e-02 1.54825905e-02 9.95477100e-01 9.51896199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102557844 meters Centerline goodness : 0.125713 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.20, Z:0.95 [[ 9.95550890e-01 -2.41525877e-03 -9.41944407e-02 -1.03238483e+01] [ 1.00470253e-03 9.99886696e-01 -1.50194917e-02 -1.96930962e-01] [ 9.42200441e-02 1.48580309e-02 9.95440517e-01 9.50555505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162557844 meters Centerline goodness : 0.127628 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.20, Z:0.95 [[ 9.95471272e-01 -1.88546523e-03 -9.50441593e-02 -1.03208589e+01] [ 5.17201146e-04 9.99895912e-01 -1.44186670e-02 -1.98846370e-01] [ 9.50614523e-02 1.43042119e-02 9.95368630e-01 9.49638380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222557844 meters Centerline goodness : 0.223349 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.20, Z:0.95 [[ 9.95579334e-01 -1.96790504e-03 -9.39037615e-02 -1.03245464e+01] [ 6.21997705e-04 9.99896697e-01 -1.43599539e-02 -1.99624021e-01] [ 9.39223200e-02 1.42380654e-02 9.95477712e-01 9.50662170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282557844 meters Centerline goodness : 0.127182 with order 3 Centerline is valid? [False, False] Translation: X:-10.33, Y:-0.20, Z:0.95 [[ 9.95593409e-01 -1.90813344e-03 -9.37556515e-02 -1.03255494e+01] [ 5.77005819e-04 9.99898683e-01 -1.42228965e-02 -2.00718657e-01] [ 9.37732916e-02 1.41061244e-02 9.95493640e-01 9.51631237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342557844 meters Centerline goodness : 0.131795 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.21, Z:0.95 [[ 9.95463675e-01 -1.09794988e-03 -9.51360403e-02 -1.03205112e+01] [-1.18149214e-04 9.99918375e-01 -1.27761625e-02 -2.06676021e-01] [ 9.51423023e-02 1.27294459e-02 9.95382290e-01 9.49699331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40255784399997 meters Centerline goodness : 0.184516 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.21, Z:0.95 [[ 9.95426528e-01 -7.30507553e-04 -9.55274549e-02 -1.03190840e+01] [-4.35050918e-04 9.99925728e-01 -1.21798966e-02 -2.08874996e-01] [ 9.55292574e-02 1.21657515e-02 9.95352277e-01 9.49139643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46255784399997 meters Centerline goodness : 0.149011 with order 1 Centerline is valid? [False, False] Translation: X:-10.30, Y:-0.22, Z:0.95 [[ 9.95581353e-01 6.60644492e-03 -9.36702944e-02 -1.02984339e+01] [-7.97899757e-03 9.99866113e-01 -1.42860744e-02 -2.15141225e-01] [ 9.35633730e-02 1.49703444e-02 9.95500770e-01 9.50537757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52255784399998 meters Centerline goodness : 0.139441 with order 1 Centerline is valid? [False, False] Translation: X:-10.29, Y:-0.22, Z:0.95 [[ 9.95467804e-01 7.42308131e-03 -9.48090115e-02 -1.02947800e+01] [-8.72787835e-03 9.99872724e-01 -1.33551161e-02 -2.18878951e-01] [ 9.46978085e-02 1.41220696e-02 9.95405893e-01 9.50097943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58255784399998 meters Centerline goodness : 0.141390 with order 1 Centerline is valid? [False, False] Translation: X:-10.29, Y:-0.22, Z:0.95 [[ 9.95428317e-01 7.76261671e-03 -9.51956323e-02 -1.02930674e+01] [-9.02940122e-03 9.99876233e-01 -1.28836341e-02 -2.20959279e-01] [ 9.50838395e-02 1.36842937e-02 9.95375207e-01 9.49118768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64255784399998 meters Centerline goodness : 0.135892 with order 1 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.23, Z:0.95 [[ 0.99539524 0.01718279 -0.09430308 -10.2727553 ] [ -0.01857136 0.99973137 -0.01386664 -0.22680026] [ 0.09403948 0.01555412 0.99544696 0.95227834] [ 0. 0. 0. 1. ]] SLAMing on 248.70255784399998 meters Centerline goodness : 0.132013 with order 1 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.23, Z:0.95 [[ 0.99544578 0.01737991 -0.09373175 -10.27479659] [ -0.01872818 0.99973314 -0.01352386 -0.22760295] [ 0.09347169 0.01521769 0.99550563 0.95279191] [ 0. 0. 0. 1. ]] SLAMing on 248.76255784399999 meters Centerline goodness : 0.135860 with order 1 Centerline is valid? [False, False] Translation: X:-10.28, Y:-0.23, Z:0.95 [[ 0.99547719 0.01751745 -0.09337184 -10.27547985] [ -0.01880139 0.99974016 -0.01288895 -0.23036725] [ 0.0931218 0.01458617 0.99554788 0.95213706] [ 0. 0. 0. 1. ]] SLAMing on 248.822557844 meters Centerline goodness : 0.170759 with order 3 Centerline is valid? [False, False] Translation: X:-10.26, Y:-0.23, Z:0.96 [[ 9.95573724e-01 6.38862235e-03 -9.37664412e-02 -1.02565583e+01] [-7.81318906e-03 9.99859451e-01 -1.48334657e-02 -2.28834411e-01] [ 9.36584970e-02 1.55004236e-02 9.95483713e-01 9.56172152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882557844 meters Centerline goodness : 0.118805 with order 3 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.23, Z:0.96 [[ 9.95519360e-01 -1.13183314e-03 -9.45511634e-02 -1.02343519e+01] [-1.81040544e-04 9.99903713e-01 -1.38755937e-02 -2.26515864e-01] [ 9.45577642e-02 1.38305398e-02 9.95423300e-01 9.58438851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942557844 meters Centerline goodness : 0.146930 with order 1 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.23, Z:0.96 [[ 9.95523574e-01 -9.53972417e-04 -9.45087438e-02 -1.02347153e+01] [-3.04131687e-04 9.99911548e-01 -1.32967411e-02 -2.29817972e-01] [ 9.45130690e-02 1.32659624e-02 9.95435228e-01 9.58817266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002557844 meters Centerline goodness : 0.345416 with order 1 Centerline is valid? [False, False] Translation: X:-10.24, Y:-0.23, Z:0.96 [[ 9.95572128e-01 -8.75281423e-04 -9.39966569e-02 -1.02369823e+01] [-3.45661425e-04 9.99915798e-01 -1.29721486e-02 -2.31489518e-01] [ 9.40000965e-02 1.29472006e-02 9.95487997e-01 9.60138699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062557844 meters Centerline goodness : 0.357876 with order 1 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.24, Z:0.96 [[ 9.95432826e-01 8.45348707e-03 -9.50895785e-02 -1.02150737e+01] [-9.74404201e-03 9.99866505e-01 -1.31158505e-02 -2.37784394e-01] [ 9.49660099e-02 1.39825050e-02 9.95382312e-01 9.62591651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122557844 meters Centerline goodness : 0.131524 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.24, Z:0.96 [[ 0.9953694 0.01131514 -0.09545538 -10.21465572] [ -0.01240329 0.9998646 -0.01081396 -0.23718086] [ 0.09532009 0.01194785 0.99537497 0.96378593] [ 0. 0. 0. 1. ]] SLAMing on 249.18255784399997 meters Centerline goodness : 0.366911 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.24, Z:0.96 [[ 0.99535768 0.0115934 -0.09554416 -10.21452703] [ -0.01265941 0.99986412 -0.0105586 -0.23803029] [ 0.09540877 0.01171912 0.99536919 0.96411375] [ 0. 0. 0. 1. ]] SLAMing on 249.24255784399998 meters Centerline goodness : 0.339377 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.24, Z:0.96 [[ 0.99526798 0.01166711 -0.09646513 -10.21249436] [ -0.0127349 0.99986419 -0.01046092 -0.23969071] [ 0.09632998 0.01163989 0.99528139 0.96493982] [ 0. 0. 0. 1. ]] SLAMing on 249.30255784399998 meters Centerline goodness : 0.132860 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.24, Z:0.96 [[ 9.95186534e-01 1.23329169e-02 -9.72196595e-02 -1.02097915e+01] [-1.33082591e-02 9.99867348e-01 -9.39027509e-03 -2.43686264e-01] [ 9.70909536e-02 1.06388997e-02 9.95218650e-01 9.64023369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36255784399998 meters Centerline goodness : 0.348615 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.25, Z:0.96 [[ 9.95195967e-01 8.67111741e-03 -9.75181943e-02 -1.02089906e+01] [-9.91222521e-03 9.99875839e-01 -1.22496706e-02 -2.48672762e-01] [ 9.73998680e-02 1.31574451e-02 9.95158353e-01 9.64081090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42255784399998 meters Centerline goodness : 0.149859 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.25, Z:0.96 [[ 9.95021482e-01 1.00025286e-02 -9.91574527e-02 -1.02041881e+01] [-1.11814308e-02 9.99873175e-01 -1.13405876e-02 -2.50948116e-01] [ 9.90314425e-02 1.23928505e-02 9.95007131e-01 9.64066489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48255784399998 meters Centerline goodness : 0.122818 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.26, Z:0.96 [[ 0.99491916 0.01845543 -0.09897106 -10.22493544] [ -0.01975948 0.99973018 -0.01221202 -0.25770798] [ 0.09871898 0.01410559 0.99501537 0.96199772] [ 0. 0. 0. 1. ]] SLAMing on 249.542557844 meters Centerline goodness : 0.359365 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.25, Z:0.97 [[ 0.99501048 0.01196119 -0.09905089 -10.20641119] [ -0.01312445 0.99985225 -0.01110083 -0.24751541] [ 0.09890347 0.01234543 0.99502045 0.9650506 ] [ 0. 0. 0. 1. ]] SLAMing on 249.602557844 meters Centerline goodness : 0.139515 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.24, Z:0.97 [[ 0.99502802 0.01238617 -0.09882222 -10.20709775] [ -0.0135695 0.99984395 -0.01131123 -0.24486891] [ 0.0986667 0.01259596 0.99504082 0.96527703] [ 0. 0. 0. 1. ]] SLAMing on 249.662557844 meters Centerline goodness : 0.147349 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.24, Z:0.97 [[ 0.99504087 0.01215037 -0.09872201 -10.20741888] [ -0.01335416 0.99984421 -0.01154203 -0.2442718 ] [ 0.09856639 0.01280314 0.99504811 0.96523549] [ 0. 0. 0. 1. ]] SLAMing on 249.722557844 meters Centerline goodness : 0.141318 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.25, Z:0.96 [[ 0.99500194 0.01209999 -0.09911979 -10.2057227 ] [ -0.01326245 0.99985069 -0.01107733 -0.24637954] [ 0.09897096 0.01233654 0.99501385 0.96405206] [ 0. 0. 0. 1. ]] SLAMing on 249.782557844 meters Centerline goodness : 0.122966 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.25, Z:0.96 [[ 9.95062859e-01 8.15111769e-03 -9.89114013e-02 -1.02064937e+01] [-9.61937329e-03 9.99850383e-01 -1.43763300e-02 -2.48527987e-01] [ 9.87794193e-02 1.52568177e-02 9.94992390e-01 9.63915837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842557844 meters Centerline goodness : 0.344080 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.25, Z:0.97 [[ 9.95380903e-01 6.07409905e-03 -9.58121237e-02 -1.01769715e+01] [-7.29761938e-03 9.99896180e-01 -1.24247589e-02 -2.52642591e-01] [ 9.57267073e-02 1.30665681e-02 9.95321889e-01 9.65936204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90255784399997 meters Centerline goodness : 0.349135 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.26, Z:0.97 [[ 9.95422408e-01 6.14184023e-03 -9.53756162e-02 -1.01786988e+01] [-7.30298000e-03 9.99903353e-01 -1.18301023e-02 -2.55530719e-01] [ 9.52937398e-02 1.24724751e-02 9.95371057e-01 9.66567827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96255784399997 meters Centerline goodness : 0.145355 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.26, Z:0.97 [[ 9.95336077e-01 3.25668683e-03 -9.64131114e-02 -1.01756912e+01] [-4.64544129e-03 9.99888621e-01 -1.41832494e-02 -2.60435815e-01] [ 9.63561826e-02 1.45649813e-02 9.95240347e-01 9.66306923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02255784399998 meters Centerline goodness : 0.347849 with order 1 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.26, Z:0.97 [[ 9.95295806e-01 3.41173455e-03 -9.68226172e-02 -1.01742386e+01] [-4.76972236e-03 9.99893433e-01 -1.37975374e-02 -2.62690986e-01] [ 9.67652256e-02 1.41944481e-02 9.95206013e-01 9.65987920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08255784399998 meters Centerline goodness : 0.136210 with order 1 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.27, Z:0.96 [[ 9.94960484e-01 2.87158388e-03 -1.00226690e-01 -1.02173479e+01] [-4.10673320e-03 9.99918124e-01 -1.21194113e-02 -2.69907419e-01] [ 1.00183682e-01 1.24699396e-02 9.94890813e-01 9.63194059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14255784399998 meters Centerline goodness : 0.152185 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.27, Z:0.96 [[ 9.94875133e-01 3.24408685e-03 -1.01059119e-01 -1.02149695e+01] [-4.46894175e-03 9.99919252e-01 -1.18961468e-02 -2.70740232e-01] [ 1.01012366e-01 1.22868080e-02 9.94809296e-01 9.63216195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20255784399998 meters Centerline goodness : 0.150312 with order 1 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.27, Z:0.96 [[ 9.94838416e-01 3.41021381e-03 -1.01414482e-01 -1.02138884e+01] [-4.62166195e-03 9.99920720e-01 -1.17129564e-02 -2.71437261e-01] [ 1.01366498e-01 1.21212024e-02 9.94775306e-01 9.63082229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26255784399999 meters Centerline goodness : 0.367681 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.27, Z:0.96 [[ 9.94893850e-01 3.22044558e-03 -1.00875447e-01 -1.02159305e+01] [-4.40409264e-03 9.99924022e-01 -1.15132454e-02 -2.72410159e-01] [ 1.00830705e-01 1.18987219e-02 9.94832443e-01 9.63522149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322557844 meters Centerline goodness : 0.395677 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.27, Z:0.96 [[ 9.94890554e-01 3.21602472e-03 -1.00908089e-01 -1.02160309e+01] [-4.39116454e-03 9.99925083e-01 -1.14256880e-02 -2.72980070e-01] [ 1.00863784e-01 1.18104131e-02 9.94830142e-01 9.63786065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382557844 meters Centerline goodness : 0.150169 with order 1 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.27, Z:0.96 [[ 9.94885172e-01 2.82185631e-03 -1.00972925e-01 -1.02164063e+01] [-4.00680284e-03 9.99925449e-01 -1.15344068e-02 -2.73247998e-01] [ 1.00932849e-01 1.18799888e-02 9.94822309e-01 9.64609806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442557844 meters Centerline goodness : 0.348494 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.27, Z:0.97 [[ 9.94945985e-01 -4.68756702e-03 -1.00302115e-01 -1.01966104e+01] [ 3.65318822e-03 9.99938265e-01 -1.04938234e-02 -2.69376408e-01] [ 1.00345114e-01 1.00743649e-02 9.94901686e-01 9.67721535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502557844 meters Centerline goodness : 0.345700 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.27, Z:0.97 [[ 9.94966419e-01 -5.77690090e-03 -1.00042250e-01 -1.01986767e+01] [ 4.72546944e-03 9.99931120e-01 -1.07436566e-02 -2.74489116e-01] [ 1.00097424e-01 1.02168309e-02 9.94925184e-01 9.68388939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562557844 meters Centerline goodness : 0.181677 with order 3 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.28, Z:0.97 [[ 9.94963623e-01 -5.66138886e-03 -1.00076661e-01 -1.01991984e+01] [ 4.73497354e-03 9.99943738e-01 -9.49216227e-03 -2.79716354e-01] [ 1.00124769e-01 8.97049582e-03 9.94934451e-01 9.68310916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622557844 meters Centerline goodness : 0.140811 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.29, Z:0.96 [[ 9.95313010e-01 1.40922487e-03 -9.66955342e-02 -1.02169071e+01] [-2.39968637e-03 9.99945835e-01 -1.01275672e-02 -2.88837329e-01] [ 9.66760247e-02 1.03121384e-02 9.95262481e-01 9.63991691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68255784399997 meters Centerline goodness : 0.158725 with order 1 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.29, Z:0.96 [[ 9.95314127e-01 1.89599228e-03 -9.66757183e-02 -1.02173678e+01] [-2.78685231e-03 9.99954886e-01 -9.08073647e-03 -2.94067130e-01] [ 9.66541399e-02 9.30760624e-03 9.95274508e-01 9.64620289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74255784399998 meters Centerline goodness : 0.122389 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.30, Z:0.97 [[ 9.95263110e-01 -5.78425555e-03 -9.70457832e-02 -1.01947249e+01] [ 5.00290876e-03 9.99953100e-01 -8.29272236e-03 -2.95426611e-01] [ 9.70891989e-02 7.76792945e-03 9.95245370e-01 9.66719059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80255784399998 meters Centerline goodness : 0.123457 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.30, Z:0.97 [[ 9.95207118e-01 -5.23627503e-03 -9.76492380e-02 -1.01934085e+01] [ 4.61953684e-03 9.99967938e-01 -6.54087232e-03 -3.02538238e-01] [ 9.76803570e-02 6.05842844e-03 9.95199399e-01 9.66419795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86255784399998 meters Centerline goodness : 0.126336 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.31, Z:0.97 [[ 9.95157500e-01 4.26848085e-03 -9.82004551e-02 -1.01724392e+01] [-4.95481199e-03 9.99964968e-01 -6.74627224e-03 -3.11370060e-01] [ 9.81682186e-02 7.20016821e-03 9.95143788e-01 9.68739409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92255784399998 meters Centerline goodness : 0.204230 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.31, Z:0.97 [[ 9.95155711e-01 4.62008266e-03 -9.82026719e-02 -1.01729661e+01] [-5.23991652e-03 9.99967941e-01 -6.05480784e-03 -3.14407970e-01] [ 9.81715499e-02 6.54005041e-03 9.95148016e-01 9.69472866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98255784399998 meters Centerline goodness : 0.154160 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.32, Z:0.97 [[ 9.95226231e-01 -4.10162417e-03 -9.75085926e-02 -1.01512554e+01] [ 3.52558150e-03 9.99975307e-01 -6.07917396e-03 -3.15323443e-01] [ 9.75311193e-02 5.70637890e-03 9.95216116e-01 9.71901447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042557844 meters Centerline goodness : 0.136462 with order 3 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.32, Z:0.97 [[ 9.95295914e-01 -4.37645859e-03 -9.67826914e-02 -1.01534443e+01] [ 3.85538053e-03 9.99977053e-01 -5.57035215e-03 -3.17059047e-01] [ 9.68048490e-02 5.17101463e-03 9.95289949e-01 9.71390563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102557844 meters Centerline goodness : 0.135163 with order 3 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.32, Z:0.97 [[ 9.95258403e-01 -4.79980478e-03 -9.71476823e-02 -1.01523490e+01] [ 4.28368899e-03 9.99975586e-01 -5.52056535e-03 -3.18549818e-01] [ 9.71718082e-02 5.07823860e-03 9.95254666e-01 9.71218566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162557844 meters Centerline goodness : 0.169331 with order 3 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.32, Z:0.97 [[ 9.95213806e-01 -5.60895176e-03 -9.75603440e-02 -1.01512178e+01] [ 5.05465515e-03 9.99969655e-01 -5.92780780e-03 -3.18775989e-01] [ 9.75906323e-02 5.40630226e-03 9.95211958e-01 9.71193318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222557844 meters Centerline goodness : 0.179374 with order 3 Centerline is valid? [False, False] Translation: X:-10.13, Y:-0.32, Z:0.97 [[ 9.95128638e-01 7.27472483e-04 -9.85822705e-02 -1.01290739e+01] [-1.60501285e-03 9.99959792e-01 -8.82259069e-03 -3.20221267e-01] [ 9.85718885e-02 8.93783848e-03 9.95089794e-01 9.72513947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282557844 meters Centerline goodness : 0.227491 with order 3 Centerline is valid? [False, False] Translation: X:-10.13, Y:-0.32, Z:0.97 [[ 9.95147719e-01 5.08097804e-04 -9.83908533e-02 -1.01298505e+01] [-1.40501884e-03 9.99958090e-01 -9.04682453e-03 -3.19315546e-01] [ 9.83821330e-02 9.14116779e-03 9.95106725e-01 9.72857349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342557844 meters Centerline goodness : 0.127257 with order 3 Centerline is valid? [False, False] Translation: X:-10.11, Y:-0.31, Z:0.98 [[ 9.95364266e-01 -6.56934668e-03 -9.59521847e-02 -1.01117817e+01] [ 5.83026356e-03 9.99951155e-01 -7.98095211e-03 -3.12813648e-01] [ 9.59999275e-02 7.38452801e-03 9.95353948e-01 9.75993329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40255784399997 meters Centerline goodness : 0.126441 with order 3 Centerline is valid? [False, False] Translation: X:-10.09, Y:-0.31, Z:0.98 [[ 9.95772210e-01 4.93585372e-04 -9.18556644e-02 -1.00934033e+01] [-1.46444050e-03 9.99943777e-01 -1.05022542e-02 -3.11458599e-01] [ 9.18453162e-02 1.05923700e-02 9.95716948e-01 9.76876607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46255784399997 meters Centerline goodness : 0.135268 with order 3 Centerline is valid? [False, False] Translation: X:-10.09, Y:-0.30, Z:0.98 [[ 9.95768689e-01 1.30711046e-03 -9.18858552e-02 -1.00929669e+01] [-2.28194035e-03 9.99942218e-01 -1.05048792e-02 -3.02061906e-01] [ 9.18668149e-02 1.06701078e-02 9.95714134e-01 9.76537716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52255784399998 meters Centerline goodness : 0.148706 with order 1 Centerline is valid? [False, False] Translation: X:-10.09, Y:-0.30, Z:0.98 [[ 9.95743802e-01 8.81946208e-04 -9.21602055e-02 -1.00916610e+01] [-1.95475009e-03 9.99931374e-01 -1.15510225e-02 -2.97026217e-01] [ 9.21436935e-02 1.16820092e-02 9.95677192e-01 9.75814967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58255784399998 meters Centerline goodness : 0.206112 with order 3 Centerline is valid? [False, False] Translation: X:-10.09, Y:-0.29, Z:0.98 [[ 9.95673762e-01 4.72271819e-03 -9.27979279e-02 -1.00902683e+01] [-5.51744868e-03 9.99950255e-01 -8.30940568e-03 -2.94145668e-01] [ 9.27540686e-02 8.78546502e-03 9.95650289e-01 9.76116007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64255784399998 meters Centerline goodness : 0.346570 with order 1 Centerline is valid? [False, False] Translation: X:-10.09, Y:-0.29, Z:0.98 [[ 9.95701565e-01 4.20520976e-03 -9.25240996e-02 -1.00912085e+01] [-5.10601128e-03 9.99941825e-01 -9.50128991e-03 -2.88317753e-01] [ 9.24787621e-02 9.93287833e-03 9.95665113e-01 9.76512148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70255784399998 meters Centerline goodness : 0.209659 with order 3 Centerline is valid? [False, False] Translation: X:-10.09, Y:-0.29, Z:0.98 [[ 9.95700091e-01 3.86800030e-03 -9.25546708e-02 -1.00910768e+01] [-4.83198378e-03 9.99936371e-01 -1.01934618e-02 -2.85087091e-01] [ 9.25093533e-02 1.05968535e-02 9.95655425e-01 9.76456327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76255784399999 meters Centerline goodness : 0.213851 with order 3 Centerline is valid? [False, False] Translation: X:-10.09, Y:-0.28, Z:0.98 [[ 9.95666334e-01 3.49986121e-03 -9.29317070e-02 -1.00896201e+01] [-4.54132337e-03 9.99929212e-01 -1.09976386e-02 -2.81262318e-01] [ 9.28866384e-02 1.13720115e-02 9.95611747e-01 9.75872719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822557844 meters Centerline goodness : 0.226388 with order 3 Centerline is valid? [False, False] Translation: X:-10.09, Y:-0.28, Z:0.97 [[ 9.95599714e-01 3.25279324e-03 -9.36516303e-02 -1.00870569e+01] [-4.35197061e-03 9.99923999e-01 -1.15350333e-02 -2.78987813e-01] [ 9.36069916e-02 1.18918450e-02 9.95538204e-01 9.74944722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882557844 meters Centerline goodness : 0.156279 with order 1 Centerline is valid? [False, False] Translation: X:-10.09, Y:-0.28, Z:0.98 [[ 9.95677844e-01 3.66497795e-03 -9.28019386e-02 -1.00898056e+01] [-4.74197021e-03 9.99923917e-01 -1.13874298e-02 -2.78186973e-01] [ 9.27531433e-02 1.17782755e-02 9.95619469e-01 9.75744122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942557844 meters Centerline goodness : 0.177077 with order 3 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.28, Z:0.98 [[ 9.95888833e-01 -3.96661925e-03 -9.04969474e-02 -1.00690101e+01] [ 3.00387874e-03 9.99937467e-01 -1.07720972e-02 -2.80071111e-01] [ 9.05340172e-02 1.04559695e-02 9.95838473e-01 9.77435026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002557844 meters Centerline goodness : 0.200136 with order 3 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.29, Z:0.98 [[ 9.96055474e-01 5.25695128e-03 -8.85768424e-02 -1.00510816e+01] [-6.30926198e-03 9.99912762e-01 -1.16044130e-02 -2.86452420e-01] [ 8.85081113e-02 1.21174936e-02 9.96001747e-01 9.80037702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062557844 meters Centerline goodness : 0.134536 with order 3 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.29, Z:0.98 [[ 9.96103573e-01 5.65108825e-03 -8.80098676e-02 -1.00528522e+01] [-6.65919346e-03 9.99915495e-01 -1.11650628e-02 -2.87986274e-01] [ 8.79393356e-02 1.17076337e-02 9.96057029e-01 9.80553193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122557844 meters Centerline goodness : 0.134484 with order 3 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.29, Z:0.98 [[ 9.96048708e-01 5.84867567e-03 -8.86158289e-02 -1.00508414e+01] [-6.85250501e-03 9.99915711e-01 -1.10278951e-02 -2.88318920e-01] [ 8.85438609e-02 1.15915611e-02 9.96004830e-01 9.79946900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18255784399997 meters Centerline goodness : 0.226153 with order 3 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.29, Z:0.98 [[ 9.96023637e-01 6.10589757e-03 -8.88798733e-02 -1.00504339e+01] [-7.06168467e-03 9.99920533e-01 -1.04432249e-02 -2.91682855e-01] [ 8.88090450e-02 1.10293405e-02 9.95987604e-01 9.80370296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24255784399998 meters Centerline goodness : 0.147016 with order 3 Centerline is valid? [False, False] Translation: X:-10.03, Y:-0.29, Z:0.98 [[ 9.96061565e-01 -7.92060786e-04 -8.86607669e-02 -1.00309755e+01] [-1.89257885e-05 9.99958176e-01 -9.14585941e-03 -2.88814593e-01] [ 8.86643028e-02 9.11151701e-03 9.96019890e-01 9.83428045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30255784399998 meters Centerline goodness : 0.207729 with order 3 Centerline is valid? [False, False] Translation: X:-10.03, Y:-0.29, Z:0.98 [[ 9.96066371e-01 -3.74031501e-04 -8.86095095e-02 -1.00314819e+01] [-3.63170592e-04 9.99965460e-01 -8.30340444e-03 -2.92560760e-01] [ 8.86095547e-02 8.30292230e-03 9.96031831e-01 9.83948330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36255784399998 meters Centerline goodness : 0.132478 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:-0.30, Z:0.99 [[ 9.96323447e-01 -7.89323515e-04 -8.56677624e-02 -9.98969622e+00] [-9.72781157e-05 9.99946488e-01 -1.03446351e-02 -2.97935619e-01] [ 8.56713434e-02 1.03149361e-02 9.96270055e-01 9.86995853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42255784399998 meters Centerline goodness : 0.172441 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:-0.30, Z:0.99 [[ 9.96326441e-01 -4.15077850e-04 -8.56355656e-02 -9.98978882e+00] [-4.17320875e-04 9.99952846e-01 -9.70211493e-03 -3.00544006e-01] [ 8.56355547e-02 9.70221115e-03 9.96279288e-01 9.87020673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48255784399998 meters Centerline goodness : 0.254401 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:-0.30, Z:0.99 [[ 9.96302055e-01 -5.04937227e-05 -8.59198050e-02 -9.98925963e+00] [-7.30307902e-04 9.99958726e-01 -9.05610648e-03 -3.03606024e-01] [ 8.59167160e-02 9.08536540e-03 9.96260897e-01 9.87434593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542557844 meters Centerline goodness : 0.127572 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:-0.31, Z:0.99 [[ 9.96265576e-01 2.54899814e-04 -8.63413953e-02 -9.98787544e+00] [-9.74143127e-04 9.99965178e-01 -8.28819506e-03 -3.08091313e-01] [ 8.63362760e-02 8.34135230e-03 9.96231132e-01 9.87160541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602557844 meters Centerline goodness : 0.119821 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:-0.31, Z:0.99 [[ 9.96255146e-01 4.74295741e-04 -8.64607370e-02 -9.98741842e+00] [-1.15715503e-03 9.99968535e-01 -7.84796494e-03 -3.10252813e-01] [ 8.64542942e-02 7.91862393e-03 9.96224347e-01 9.86949219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662557844 meters Centerline goodness : 0.393806 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:-0.31, Z:0.99 [[ 9.96272951e-01 1.01254762e-03 -8.62506911e-02 -9.98764732e+00] [-1.64727338e-03 9.99972084e-01 -7.28822634e-03 -3.11699288e-01] [ 8.62409036e-02 7.40314123e-03 9.96246807e-01 9.86514745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722557844 meters Centerline goodness : 0.391261 with order 3 Centerline is valid? [False, False] Translation: X:-9.99, Y:-0.31, Z:0.99 [[ 9.96243434e-01 1.05000512e-03 -8.65905141e-02 -9.98617596e+00] [-1.67427303e-03 9.99973129e-01 -7.13711674e-03 -3.12904932e-01] [ 8.65806933e-02 7.25528185e-03 9.96218422e-01 9.85764767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782557844 meters Centerline goodness : 0.387522 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:-0.31, Z:0.99 [[ 9.96220436e-01 1.16771429e-03 -8.68532078e-02 -9.98525191e+00] [-1.77075550e-03 9.99974857e-01 -6.86650378e-03 -3.14404179e-01] [ 8.68430060e-02 6.99434718e-03 9.96197456e-01 9.85462130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842557844 meters Centerline goodness : 0.136989 with order 1 Centerline is valid? [False, False] Translation: X:-9.96, Y:-0.32, Z:0.99 [[ 9.96435190e-01 -2.70723568e-03 -8.43183409e-02 -9.96339418e+00] [ 2.46800787e-03 9.99992629e-01 -2.94130346e-03 -3.15059404e-01] [ 8.43256822e-02 2.72271995e-03 9.96434527e-01 9.86653314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90255784399997 meters Centerline goodness : 0.138688 with order 3 Centerline is valid? [False, False] Translation: X:-9.96, Y:-0.32, Z:0.99 [[ 9.96441354e-01 -2.53206925e-03 -8.42509162e-02 -9.96393486e+00] [ 2.32295598e-03 9.99993974e-01 -2.57996712e-03 -3.16854274e-01] [ 8.42569411e-02 2.37507476e-03 9.96441231e-01 9.87232865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96255784399997 meters SLAMing on 253.02255784399998 meters SLAMing on 253.08255784399998 meters Centerline goodness : 0.140804 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:-0.32, Z:0.99 [[ 9.96371744e-01 8.77023593e-03 -8.46547706e-02 -9.94094193e+00] [-9.01119390e-03 9.99956361e-01 -2.46466649e-03 -3.17429002e-01] [ 8.46294606e-02 3.21856460e-03 9.96407294e-01 9.88946337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14255784399998 meters Centerline goodness : 0.147355 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:-0.32, Z:0.99 [[ 9.96405050e-01 8.82892079e-03 -8.42557220e-02 -9.94305215e+00] [-9.05234424e-03 9.99956450e-01 -2.27005627e-03 -3.18616328e-01] [ 8.42320105e-02 3.02460733e-03 9.96441579e-01 9.90445360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20255784399998 meters Centerline goodness : 0.147652 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:-0.32, Z:0.99 [[ 9.96407100e-01 8.81819086e-03 -8.42326004e-02 -9.94283170e+00] [-9.04385841e-03 9.99956463e-01 -2.29789637e-03 -3.18412346e-01] [ 8.42086699e-02 3.05142797e-03 9.96443470e-01 9.90033329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26255784399999 meters Centerline goodness : 0.129429 with order 3 Centerline is valid? [False, False] Translation: X:-9.94, Y:-0.32, Z:0.99 [[ 9.96367833e-01 8.91371741e-03 -8.46858121e-02 -9.94118463e+00] [-9.11845250e-03 9.99956363e-01 -2.03108773e-03 -3.19899655e-01] [ 8.46640121e-02 2.79591403e-03 9.96405634e-01 9.89427356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322557844 meters Centerline goodness : 0.094974 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:-0.32, Z:0.99 [[ 9.96379707e-01 9.08756050e-03 -8.45274864e-02 -9.94225282e+00] [-9.26340383e-03 9.99955668e-01 -1.68832606e-03 -3.21416477e-01] [ 8.45083964e-02 2.46522607e-03 9.96419718e-01 9.90382282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382557844 meters Centerline goodness : 0.094504 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:-0.32, Z:0.99 [[ 9.96374188e-01 9.02480408e-03 -8.45992316e-02 -9.94156238e+00] [-9.22491510e-03 9.99955500e-01 -1.97477945e-03 -3.19718309e-01] [ 8.45776449e-02 2.74804000e-03 9.96413102e-01 9.89635662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442557844 meters Centerline goodness : 0.116511 with order 1 Centerline is valid? [False, False] Translation: X:-9.95, Y:-0.31, Z:0.99 [[ 9.96470605e-01 9.33554886e-03 -8.34217027e-02 -9.94506143e+00] [-9.57371141e-03 9.99951156e-01 -2.45534582e-03 -3.14531816e-01] [ 8.33947061e-02 3.24533524e-03 9.96511310e-01 9.90068040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502557844 meters SLAMing on 253.562557844 meters Centerline goodness : 0.125634 with order 3 Centerline is valid? [False, False] Translation: X:-9.91, Y:-0.30, Z:0.99 [[ 9.96763303e-01 9.07865940e-03 -7.98779998e-02 -9.90854353e+00] [-9.44454456e-03 9.99946562e-01 -4.20392562e-03 -2.99146707e-01] [ 7.98355653e-02 4.94473012e-03 9.96795783e-01 9.90766742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622557844 meters Centerline goodness : 0.124280 with order 3 Centerline is valid? [False, False] Translation: X:-9.91, Y:-0.30, Z:0.99 [[ 9.96766602e-01 8.64824405e-03 -7.98845981e-02 -9.90884153e+00] [-9.04363021e-03 9.99948576e-01 -4.58898506e-03 -2.97807662e-01] [ 7.98408034e-02 5.29659381e-03 9.96793555e-01 9.91170124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68255784399997 meters Centerline goodness : 0.363335 with order 3 Centerline is valid? [False, False] Translation: X:-9.91, Y:-0.29, Z:0.99 [[ 9.96688251e-01 7.73860597e-03 -8.09483997e-02 -9.90539944e+00] [-8.21567817e-03 9.99950782e-01 -5.56212134e-03 -2.94549177e-01] [ 8.09013725e-02 6.20874700e-03 9.96702774e-01 9.90364177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74255784399998 meters Centerline goodness : 0.146669 with order 1 Centerline is valid? [False, False] Translation: X:-9.91, Y:-0.29, Z:0.99 [[ 9.96694098e-01 7.45190337e-03 -8.09032996e-02 -9.90546121e+00] [-7.97410321e-03 9.99949396e-01 -6.13343757e-03 -2.91893410e-01] [ 8.08534997e-02 6.75829229e-03 9.96703084e-01 9.90252064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80255784399998 meters SLAMing on 253.86255784399998 meters Centerline goodness : 0.139191 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:-0.29, Z:0.99 [[ 9.96772730e-01 -2.68045560e-04 -8.02748572e-02 -9.88569237e+00] [-1.71117028e-04 9.99985059e-01 -5.46380720e-03 -2.88036522e-01] [ 8.02751223e-02 5.45991041e-03 9.96757791e-01 9.93794533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92255784399998 meters Centerline goodness : 0.123992 with order 3 Centerline is valid? [False, False] Translation: X:-9.89, Y:-0.29, Z:0.99 [[ 9.96758806e-01 -2.72993135e-05 -8.04480079e-02 -9.88540715e+00] [-3.47533112e-04 9.99989150e-01 -4.64530716e-03 -2.92276080e-01] [ 8.04472619e-02 4.65820916e-03 9.96747982e-01 9.94081828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98255784399998 meters Centerline goodness : 0.221138 with order 3 Centerline is valid? [False, False] Translation: X:-9.88, Y:-0.29, Z:0.99 [[ 9.96730263e-01 1.40451013e-04 -8.08007571e-02 -9.88429071e+00] [-4.93046429e-04 9.99990444e-01 -4.34382845e-03 -2.93808095e-01] [ 8.07993749e-02 4.36946380e-03 9.96720808e-01 9.93841371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042557844 meters Centerline goodness : 0.394433 with order 1 Centerline is valid? [False, False] Translation: X:-9.86, Y:-0.30, Z:1.00 [[ 9.96683159e-01 9.66918748e-03 -8.08033836e-02 -9.86404963e+00] [-1.01123090e-02 9.99935983e-01 -5.07651529e-03 -3.00946579e-01] [ 8.07491250e-02 5.87678609e-03 9.96717132e-01 9.96765314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102557844 meters SLAMing on 254.162557844 meters Centerline goodness : 0.125125 with order 3 Centerline is valid? [False, False] Translation: X:-9.82, Y:-0.30, Z:1.00 [[ 9.96860999e-01 1.23523515e-02 -7.82020974e-02 -9.82103598e+00] [-1.27768512e-02 9.99906218e-01 -4.93019372e-03 -3.04647866e-01] [ 7.81338640e-02 5.91389440e-03 9.96925336e-01 9.98710289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222557844 meters SLAMing on 254.282557844 meters Centerline goodness : 0.126564 with order 3 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.30, Z:1.00 [[ 9.97002584e-01 5.16039664e-03 -7.71959742e-02 -9.80142066e+00] [-5.48604339e-03 9.99976923e-01 -4.00696908e-03 -3.04738873e-01] [ 7.71735152e-02 4.41845899e-03 9.97007887e-01 1.00102004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342557844 meters Centerline goodness : 0.237146 with order 3 Centerline is valid? [False, False] Translation: X:-9.80, Y:-0.30, Z:1.00 [[ 9.97000135e-01 5.15300185e-03 -7.72280811e-02 -9.80134796e+00] [-5.47820848e-03 9.99976995e-01 -3.99972760e-03 -3.04800139e-01] [ 7.72056939e-02 4.41080049e-03 9.97005429e-01 1.00098521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40255784399997 meters Centerline goodness : 0.125654 with order 3 Centerline is valid? [False, False] Translation: X:-9.78, Y:-0.30, Z:1.00 [[ 9.96959141e-01 -2.12222270e-03 -7.78971556e-02 -9.78058760e+00] [ 1.84663480e-03 9.99991780e-01 -3.60970577e-03 -2.98945841e-01] [ 7.79041759e-02 3.45488157e-03 9.96954865e-01 1.00303475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46255784399997 meters Centerline goodness : 0.119705 with order 1 Centerline is valid? [False, False] Translation: X:-9.76, Y:-0.30, Z:1.00 [[ 9.97164020e-01 5.07272733e-03 -7.50878434e-02 -9.75973052e+00] [-5.56170281e-03 9.99964661e-01 -6.30437432e-03 -2.98499475e-01] [ 7.50532095e-02 6.70411151e-03 9.97156994e-01 1.00293299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52255784399998 meters SLAMing on 254.58255784399998 meters Centerline goodness : 0.225151 with order 3 Centerline is valid? [False, False] Translation: X:-9.76, Y:-0.29, Z:1.00 [[ 9.97070765e-01 7.67909719e-03 -7.60981014e-02 -9.75535945e+00] [-8.05616320e-03 9.99956740e-01 -4.64925929e-03 -2.92009796e-01] [ 7.60591073e-02 5.24869924e-03 9.97089496e-01 1.00114346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64255784399998 meters Centerline goodness : 0.149627 with order 1 Centerline is valid? [False, False] Translation: X:-9.76, Y:-0.29, Z:1.00 [[ 9.97101289e-01 7.87361354e-03 -7.56771094e-02 -9.75607490e+00] [-8.28588979e-03 9.99952485e-01 -5.13539651e-03 -2.87569285e-01] [ 7.56330795e-02 5.74756267e-03 9.97119152e-01 1.00043662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70255784399998 meters Centerline goodness : 0.180103 with order 1 Centerline is valid? [False, False] Translation: X:-9.74, Y:-0.28, Z:1.00 [[ 9.96984730e-01 1.31526781e-03 -7.75868441e-02 -9.73695609e+00] [-1.70050063e-03 9.99986552e-01 -4.89932330e-03 -2.81940492e-01] [ 7.75793568e-02 5.01648700e-03 9.96973559e-01 1.00339652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76255784399999 meters SLAMing on 254.822557844 meters SLAMing on 254.882557844 meters Centerline goodness : 0.243312 with order 3 Centerline is valid? [False, False] Translation: X:-9.74, Y:-0.28, Z:1.00 [[ 9.96945205e-01 5.55870349e-03 -7.79060871e-02 -9.73659489e+00] [-5.67595404e-03 9.99983068e-01 -1.28367121e-03 -2.79998922e-01] [ 7.78976324e-02 1.72194123e-03 9.96959876e-01 1.00417528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942557844 meters Centerline goodness : 0.118336 with order 1 Centerline is valid? [False, False] Translation: X:-9.74, Y:-0.27, Z:1.01 [[ 9.96953437e-01 7.90710676e-03 -7.75971771e-02 -9.73902446e+00] [-7.94270146e-03 9.99968445e-01 -1.50086329e-04 -2.72348288e-01] [ 7.75935418e-02 7.65960294e-04 9.96984782e-01 1.00566767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002557844 meters Centerline goodness : 0.146138 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:-0.27, Z:1.01 [[ 9.96896857e-01 1.76228848e-02 -7.67208625e-02 -9.71986685e+00] [-1.77086910e-02 9.99843093e-01 -4.38196153e-04 -2.71952572e-01] [ 7.67011021e-02 1.79546242e-03 9.97052515e-01 1.00662200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062557844 meters Centerline goodness : 0.149410 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:-0.27, Z:1.01 [[ 9.96908915e-01 1.42260673e-02 -7.72672848e-02 -9.71778093e+00] [-1.45507703e-02 9.99887503e-01 -3.64094339e-03 -2.72405366e-01] [ 7.72067961e-02 4.75398744e-03 9.97003766e-01 1.00539554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122557844 meters Centerline goodness : 0.140104 with order 1 Centerline is valid? [False, False] Translation: X:-9.74, Y:-0.27, Z:1.00 [[ 9.97053132e-01 3.07830958e-03 -7.66523011e-02 -9.74148280e+00] [-3.37471110e-03 9.99987321e-01 -3.73760116e-03 -2.70261121e-01] [ 7.66398237e-02 3.98526631e-03 9.97050879e-01 1.00483601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18255784399997 meters Centerline goodness : 0.400118 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:-0.27, Z:1.01 [[ 9.97051993e-01 -3.98198088e-03 -7.66255034e-02 -9.72252484e+00] [ 3.81570630e-03 9.99990038e-01 -2.31624771e-03 -2.66450504e-01] [ 7.66339633e-02 2.01703898e-03 9.97057254e-01 1.00864377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24255784399998 meters Centerline goodness : 0.390080 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:-0.27, Z:1.01 [[ 9.96892554e-01 -5.53719280e-03 -7.85784720e-02 -9.71466929e+00] [ 5.24222226e-03 9.99978420e-01 -3.95962102e-03 -2.66327875e-01] [ 7.85987014e-02 3.53539090e-03 9.96900068e-01 1.00575809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30255784399998 meters Centerline goodness : 0.394776 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:-0.27, Z:1.00 [[ 9.97249083e-01 1.69052172e-03 -7.41040329e-02 -9.73387747e+00] [-2.00260707e-03 9.99989436e-01 -4.13734845e-03 -2.72882357e-01] [ 7.40962557e-02 4.27436821e-03 9.97241934e-01 1.00213282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36255784399998 meters Centerline goodness : 0.396257 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:-0.28, Z:1.00 [[ 9.97390518e-01 1.07746519e-02 -7.13867094e-02 -9.71609194e+00] [-1.11854763e-02 9.99923087e-01 -5.35764735e-03 -2.76147827e-01] [ 7.13234920e-02 6.14216101e-03 9.97434325e-01 1.00495611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42255784399998 meters Centerline goodness : 0.111125 with order 1 Centerline is valid? [False, False] Translation: X:-9.71, Y:-0.27, Z:1.00 [[ 9.97293515e-01 1.12104520e-02 -7.26634024e-02 -9.71219164e+00] [-1.16486919e-02 9.99916414e-01 -5.61011468e-03 -2.74944065e-01] [ 7.25944368e-02 6.44136458e-03 9.97340742e-01 1.00474776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48255784399998 meters Centerline goodness : 0.233688 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:-0.27, Z:1.00 [[ 9.97383335e-01 1.16089183e-02 -7.13562604e-02 -9.71561207e+00] [-1.20494897e-02 9.99910888e-01 -5.74688742e-03 -2.72653410e-01] [ 7.12831865e-02 6.59165627e-03 9.97434337e-01 1.00473657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542557844 meters Centerline goodness : 0.126349 with order 3 Centerline is valid? [False, False] Translation: X:-9.70, Y:-0.27, Z:1.01 [[ 9.97248455e-01 2.09436056e-02 -7.11117796e-02 -9.69641275e+00] [-2.14604977e-02 9.99748486e-01 -6.51242502e-03 -2.74838373e-01] [ 7.09575003e-02 8.02059997e-03 9.97447093e-01 1.00697640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602557844 meters Centerline goodness : 0.164494 with order 1 Centerline is valid? [False, False] Translation: X:-9.71, Y:-0.27, Z:1.00 [[ 9.97332996e-01 1.15046708e-02 -7.20731384e-02 -9.71373705e+00] [-1.19960248e-02 9.99907638e-01 -6.38827692e-03 -2.65964583e-01] [ 7.19929865e-02 7.23583052e-03 9.97378891e-01 1.00427366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662557844 meters Centerline goodness : 0.125731 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:-0.27, Z:1.00 [[ 9.97439875e-01 8.75985454e-03 -7.09715545e-02 -9.71744691e+00] [-9.39143374e-03 9.99919173e-01 -8.57025032e-03 -2.67742482e-01] [ 7.08907439e-02 9.21483405e-03 9.97441522e-01 1.00434920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722557844 meters Centerline goodness : 0.208291 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:-0.27, Z:1.00 [[ 9.97427519e-01 8.57838624e-03 -7.11670966e-02 -9.71683572e+00] [-9.21972601e-03 9.99919753e-01 -8.68815248e-03 -2.67321015e-01] [ 7.10868553e-02 9.32194351e-03 9.97426569e-01 1.00393861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782557844 meters Centerline goodness : 0.344062 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:-0.27, Z:1.00 [[ 9.97397446e-01 8.27630287e-03 -7.16228872e-02 -9.71553292e+00] [-8.94636484e-03 9.99919120e-01 -9.03967969e-03 -2.65947986e-01] [ 7.15422792e-02 9.65691792e-03 9.97390819e-01 1.00369179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842557844 meters Centerline goodness : 0.216622 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:-0.26, Z:1.00 [[ 9.97428993e-01 8.19160643e-03 -7.11920080e-02 -9.71714628e+00] [-8.87233520e-03 9.99917848e-01 -9.25091045e-03 -2.64586855e-01] [ 7.11103796e-02 9.85876565e-03 9.97419730e-01 1.00439079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90255784399997 meters Centerline goodness : 0.134995 with order 3 Centerline is valid? [False, False] Translation: X:-9.70, Y:-0.26, Z:1.01 [[ 9.97462446e-01 6.91310945e-04 -7.11912218e-02 -9.69720523e+00] [-1.31540482e-03 9.99961115e-01 -8.71993524e-03 -2.58380992e-01] [ 7.11824254e-02 8.79145322e-03 9.97424570e-01 1.00707261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96255784399997 meters Centerline goodness : 0.135175 with order 3 Centerline is valid? [False, False] Translation: X:-9.70, Y:-0.26, Z:1.01 [[ 9.97459845e-01 5.99578949e-04 -7.12284898e-02 -9.69766636e+00] [-1.22195119e-03 9.99961456e-01 -8.69443400e-03 -2.58761896e-01] [ 7.12205314e-02 8.75938653e-03 9.97422132e-01 1.00787568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.022557844 meters Centerline goodness : 0.134783 with order 3 Centerline is valid? [False, False] Translation: X:-9.70, Y:-0.26, Z:1.01 [[ 9.97482595e-01 6.08865273e-04 -7.09091166e-02 -9.69944715e+00] [-1.22700672e-03 9.99961626e-01 -8.67414469e-03 -2.58472689e-01] [ 7.09011142e-02 8.73931432e-03 9.97445064e-01 1.00922722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.082557844 meters Centerline goodness : 0.133691 with order 3 Centerline is valid? [False, False] Translation: X:-9.70, Y:-0.26, Z:1.01 [[ 9.97479468e-01 4.77020326e-04 -7.09540965e-02 -9.69898196e+00] [-1.11129946e-03 9.99959776e-01 -8.90008174e-03 -2.57492700e-01] [ 7.09469969e-02 8.95650004e-03 9.97439875e-01 1.00873758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.142557844 meters Centerline goodness : 0.210144 with order 3 Centerline is valid? [False, False] Translation: X:-9.70, Y:-0.26, Z:1.01 [[ 9.97485061e-01 3.66708982e-04 -7.08760770e-02 -9.69924418e+00] [-1.01944360e-03 9.99957402e-01 -9.17356639e-03 -2.56082280e-01] [ 7.08696939e-02 9.22274960e-03 9.97442944e-01 1.00879308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.202557844 meters Centerline goodness : 0.130960 with order 2 Centerline is valid? [False, False] Translation: X:-9.66, Y:-0.25, Z:1.01 [[ 9.97659215e-01 1.46560751e-03 -6.83662377e-02 -9.65727111e+00] [-2.17651132e-03 9.99944326e-01 -1.03251355e-02 -2.52611599e-01] [ 6.83472988e-02 1.04497665e-02 9.97606861e-01 1.01143666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.262557844 meters Centerline goodness : 0.214641 with order 3 Centerline is valid? [False, False] Translation: X:-9.64, Y:-0.25, Z:1.01 [[ 9.97581907e-01 -6.99473060e-03 -6.91477605e-02 -9.63521927e+00] [ 6.29293411e-03 9.99926513e-01 -1.03618593e-02 -2.49951555e-01] [ 6.92151575e-02 9.90166106e-03 9.97552615e-01 1.01321030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.322557844 meters Centerline goodness : 0.224248 with order 3 Centerline is valid? [False, False] Translation: X:-9.64, Y:-0.26, Z:1.01 [[ 9.97621832e-01 -9.93804332e-03 -6.82049593e-02 -9.63936429e+00] [ 9.17805867e-03 9.99892359e-01 -1.14469957e-02 -2.57678456e-01] [ 6.83113784e-02 1.07937837e-02 9.97605658e-01 1.01374046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.382557844 meters Centerline goodness : 0.131343 with order 3 Centerline is valid? [False, False] Translation: X:-9.62, Y:-0.27, Z:1.02 [[ 0.99761519 -0.02046412 -0.06591775 -9.61888044] [ 0.01972477 0.99973525 -0.01184767 -0.26515595] [ 0.06614275 0.0105192 0.99775472 1.01535352] [ 0. 0. 0. 1. ]] SLAMing on 256.442557844 meters Centerline goodness : 0.196321 with order 3 Centerline is valid? [False, False] Translation: X:-9.62, Y:-0.27, Z:1.01 [[ 0.99752857 -0.02346837 -0.06622678 -9.61720533] [ 0.02267225 0.99966168 -0.01274726 -0.27440857] [ 0.06650353 0.01121425 0.99772317 1.01290603] [ 0. 0. 0. 1. ]] SLAMing on 256.502557844 meters Centerline goodness : 0.129175 with order 3 Centerline is valid? [False, False] Translation: X:-9.62, Y:-0.28, Z:1.01 [[ 0.99742428 -0.02711547 -0.0664045 -9.61623686] [ 0.02621326 0.99955236 -0.01442055 -0.28386653] [ 0.06676579 0.01264273 0.99768857 1.01155001] [ 0. 0. 0. 1. ]] SLAMing on 256.562557844 meters Centerline goodness : 0.140935 with order 3 Centerline is valid? [False, False] Translation: X:-9.63, Y:-0.29, Z:1.01 [[ 0.99748847 -0.01434261 -0.06936164 -9.62670717] [ 0.01342858 0.99981698 -0.01362619 -0.29187547] [ 0.06954439 0.01266054 0.99749852 1.01037821] [ 0. 0. 0. 1. ]] SLAMing on 256.622557844 meters Centerline goodness : 0.127930 with order 3 Centerline is valid? [False, False] Translation: X:-9.61, Y:-0.29, Z:1.01 [[ 9.97617009e-01 -4.26606068e-03 -6.88629330e-02 -9.60633671e+00] [ 3.27674557e-03 9.99889891e-01 -1.44730087e-02 -2.93614660e-01] [ 6.89170934e-02 1.42128733e-02 9.97521142e-01 1.01217425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68255784400003 meters Centerline goodness : 0.211536 with order 3 Centerline is valid? [False, False] Translation: X:-9.59, Y:-0.29, Z:1.01 [[ 9.97895391e-01 5.55641868e-03 -6.46058370e-02 -9.58847848e+00] [-6.54550967e-03 9.99864442e-01 -1.51080539e-02 -2.89182837e-01] [ 6.45131325e-02 1.54991355e-02 9.97796489e-01 1.01284322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74255784400003 meters Centerline goodness : 0.142201 with order 3 Centerline is valid? [False, False] Translation: X:-9.57, Y:-0.28, Z:1.02 [[ 9.97844270e-01 -1.29403718e-03 -6.56135505e-02 -9.56954367e+00] [ 3.30620558e-04 9.99892013e-01 -1.46919288e-02 -2.80960321e-01] [ 6.56254770e-02 1.46385638e-02 9.97736944e-01 1.01605003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80255784400003 meters Centerline goodness : 0.123115 with order 3 Centerline is valid? [False, False] Translation: X:-9.57, Y:-0.28, Z:1.02 [[ 9.97802490e-01 -1.83098067e-03 -6.62332158e-02 -9.56799450e+00] [ 8.21331928e-04 9.99883102e-01 -1.52678619e-02 -2.79033278e-01] [ 6.62534284e-02 1.51799111e-02 9.97687353e-01 1.01598212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86255784400004 meters Centerline goodness : 0.148293 with order 3 Centerline is valid? [False, False] Translation: X:-9.57, Y:-0.28, Z:1.02 [[ 9.97835363e-01 -2.85852575e-03 -6.56994403e-02 -9.56949435e+00] [ 1.80953672e-03 9.99870027e-01 -1.60204484e-02 -2.76680953e-01] [ 6.57366960e-02 1.58668844e-02 9.97710844e-01 1.01622093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92255784400004 meters Centerline goodness : 0.218396 with order 3 Centerline is valid? [False, False] Translation: X:-9.55, Y:-0.27, Z:1.02 [[ 9.97754108e-01 -1.03950087e-02 -6.61716189e-02 -9.54865715e+00] [ 9.37553021e-03 9.99832814e-01 -1.56985288e-02 -2.69613561e-01] [ 6.63237423e-02 1.50428775e-02 9.97684756e-01 1.01851220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98255784400004 meters Centerline goodness : 0.294041 with order 1 Centerline is valid? [False, False] Translation: X:-9.55, Y:-0.27, Z:1.02 [[ 0.99772765 -0.01098449 -0.06647465 -9.54781059] [ 0.00990603 0.99981427 -0.01653156 -0.26624215] [ 0.0666439 0.01583549 0.99765116 1.01837907] [ 0. 0. 0. 1. ]] SLAMing on 257.042557844 meters Centerline goodness : 0.145792 with order 3 Centerline is valid? [False, False] Translation: X:-9.53, Y:-0.27, Z:1.02 [[ 9.97929455e-01 -1.57022094e-03 -6.42988183e-02 -9.52882934e+00] [ 4.47188273e-04 9.99847174e-01 -1.74765050e-02 -2.65073850e-01] [ 6.43164337e-02 1.74115655e-02 9.97777647e-01 1.01941217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.102557844 meters Centerline goodness : 0.231174 with order 3 Centerline is valid? [False, False] Translation: X:-9.53, Y:-0.26, Z:1.02 [[ 9.98001092e-01 1.49889421e-04 -6.31964985e-02 -9.53261469e+00] [-1.20965214e-03 9.99859289e-01 -1.67313989e-02 -2.56543712e-01] [ 6.31850982e-02 1.67744002e-02 9.97860843e-01 1.02054688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.162557844 meters Centerline goodness : 0.195033 with order 3 Centerline is valid? [False, False] Translation: X:-9.51, Y:-0.25, Z:1.02 [[ 0.99799547 0.01115418 -0.06229474 -9.50987351] [-0.01224218 0.99977865 -0.01711106 -0.24770051] [ 0.06209009 0.01783938 0.99791111 1.02045784] [ 0. 0. 0. 1. ]] SLAMing on 257.222557844 meters Centerline goodness : 0.122771 with order 3 Centerline is valid? [False, False] Translation: X:-9.51, Y:-0.24, Z:1.02 [[ 0.99793958 0.01459963 -0.06247759 -9.50889853] [-0.01556063 0.99976756 -0.01492276 -0.23919727] [ 0.0622452 0.0158642 0.9979348 1.02017943] [ 0. 0. 0. 1. ]] SLAMing on 257.282557844 meters Centerline goodness : 0.221992 with order 3 Centerline is valid? [False, False] Translation: X:-9.51, Y:-0.22, Z:1.02 [[ 0.99788127 0.01782559 -0.06257167 -9.50757733] [-0.01870129 0.99973481 -0.01343741 -0.22296185] [ 0.06231555 0.01457911 0.99795001 1.01944711] [ 0. 0. 0. 1. ]] SLAMing on 257.342557844 meters Centerline goodness : 0.232639 with order 3 Centerline is valid? [False, False] Translation: X:-9.49, Y:-0.21, Z:1.02 [[ 0.99784828 0.01152501 -0.06454437 -9.48963897] [-0.01243237 0.99982921 -0.01367396 -0.20867087] [ 0.06437575 0.01444698 0.99782115 1.0225995 ] [ 0. 0. 0. 1. ]] SLAMing on 257.402557844 meters SLAMing on 257.462557844 meters Centerline goodness : 0.349347 with order 2 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.18, Z:1.03 [[ 9.97776545e-01 -9.12279645e-03 -6.60207622e-02 -9.47536504e+00] [ 8.36326437e-03 9.99895736e-01 -1.17716945e-02 -1.78808449e-01] [ 6.61212694e-02 1.11933716e-02 9.97748809e-01 1.02637180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.522557844 meters Centerline goodness : 0.187523 with order 3 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.17, Z:1.03 [[ 9.97777218e-01 -9.64136804e-03 -6.59368476e-02 -9.47537062e+00] [ 8.82970836e-03 9.99881757e-01 -1.25900192e-02 -1.73376160e-01] [ 6.60504360e-02 1.19798312e-02 9.97744368e-01 1.02627345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.582557844 meters Centerline goodness : 0.199706 with order 3 Centerline is valid? [False, False] Translation: X:-9.47, Y:-0.17, Z:1.03 [[ 9.97761858e-01 -6.66187916e-03 -6.65349110e-02 -9.47295521e+00] [ 5.98826251e-03 9.99928831e-01 -1.03185697e-02 -1.65822018e-01] [ 6.65989169e-02 9.89704677e-03 9.97730742e-01 1.02523286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.642557844 meters Centerline goodness : 0.141787 with order 3 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.16, Z:1.03 [[ 9.97832708e-01 -4.80397694e-03 -6.56262833e-02 -9.47721942e+00] [ 4.22142834e-03 9.99950476e-01 -9.01254388e-03 -1.58523715e-01] [ 6.56663293e-02 8.71597441e-03 9.97803570e-01 1.02724843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.702557844 meters Centerline goodness : 0.156921 with order 2 Centerline is valid? [False, False] Translation: X:-9.48, Y:-0.15, Z:1.03 [[ 9.97839277e-01 -5.61291436e-03 -6.54619885e-02 -9.47761323e+00] [ 4.94382294e-03 9.99933920e-01 -1.03785840e-02 -1.51696852e-01] [ 6.55159169e-02 1.00325263e-02 9.97801089e-01 1.02742817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.762557844 meters Centerline goodness : 0.149813 with order 3 Centerline is valid? [False, False] Translation: X:-9.50, Y:-0.14, Z:1.03 [[ 9.97794734e-01 -1.23412613e-02 -6.52178085e-02 -9.49876242e+00] [ 1.18691539e-02 9.99900513e-01 -7.62144997e-03 -1.43962888e-01] [ 6.53053785e-02 6.83056244e-03 9.97841947e-01 1.02589546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.822557844 meters Centerline goodness : 0.140324 with order 3 Centerline is valid? [False, False] Translation: X:-9.50, Y:-0.14, Z:1.03 [[ 9.97805864e-01 -1.26940177e-02 -6.49793758e-02 -9.49950063e+00] [ 1.21890857e-02 9.99892405e-01 -8.16121604e-03 -1.40715530e-01] [ 6.50759829e-02 7.35127005e-03 9.97853233e-01 1.02615525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.882557844 meters Centerline goodness : 0.149723 with order 3 Centerline is valid? [False, False] Translation: X:-9.50, Y:-0.14, Z:1.03 [[ 9.97793094e-01 -1.29126930e-02 -6.51322045e-02 -9.49914451e+00] [ 1.23912067e-02 9.99887907e-01 -8.40421578e-03 -1.39202383e-01] [ 6.52334247e-02 7.57860186e-03 9.97841252e-01 1.02622290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942557844 meters Centerline goodness : 0.245687 with order 3 Centerline is valid? [False, False] Translation: X:-9.52, Y:-0.14, Z:1.02 [[ 9.97784651e-01 -4.81276038e-03 -6.63522947e-02 -9.51937734e+00] [ 4.23682815e-03 9.99952146e-01 -8.81790107e-03 -1.41542064e-01] [ 6.63915579e-02 8.51724307e-03 9.97757294e-01 1.02408103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002557844 meters Centerline goodness : 0.261031 with order 3 Centerline is valid? [False, False] Translation: X:-9.52, Y:-0.14, Z:1.02 [[ 9.97759860e-01 -5.13566674e-03 -6.66999772e-02 -9.51811975e+00] [ 4.54578343e-03 9.99949233e-01 -8.99259339e-03 -1.40900037e-01] [ 6.67427741e-02 8.66924507e-03 9.97732552e-01 1.02342363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062557844 meters Centerline goodness : 0.109032 with order 1 Centerline is valid? [False, False] Translation: X:-9.52, Y:-0.14, Z:1.02 [[ 9.97737499e-01 -5.27136486e-03 -6.70230927e-02 -9.51757537e+00] [ 4.67593744e-03 9.99948227e-01 -9.03768822e-03 -1.40064388e-01] [ 6.70672636e-02 8.70384466e-03 9.97710492e-01 1.02388840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122557844 meters Centerline goodness : 0.120282 with order 1 Centerline is valid? [False, False] Translation: X:-9.52, Y:-0.14, Z:1.02 [[ 9.97750569e-01 -1.86070100e-03 -6.70099912e-02 -9.51745788e+00] [ 1.46457775e-03 9.99981166e-01 -5.96004654e-03 -1.37215832e-01] [ 6.70198190e-02 5.84849848e-03 9.97734503e-01 1.02370655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18255784400003 meters Centerline goodness : 0.225384 with order 3 Centerline is valid? [False, False] Translation: X:-9.56, Y:-0.13, Z:1.02 [[ 9.97911532e-01 -3.13375460e-03 -6.45194108e-02 -9.56152018e+00] [ 2.67809859e-03 9.99970869e-01 -7.14758312e-03 -1.31015304e-01] [ 6.45399301e-02 6.95986628e-03 9.97890855e-01 1.02063330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24255784400003 meters Centerline goodness : 0.111777 with order 1 Centerline is valid? [False, False] Translation: X:-9.56, Y:-0.13, Z:1.02 [[ 9.97903813e-01 7.24685718e-04 -6.47105402e-02 -9.56091328e+00] [-9.83438234e-04 9.99991648e-01 -3.96685142e-03 -1.26332550e-01] [ 6.47071251e-02 4.02217498e-03 9.97896192e-01 1.02049514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30255784400003 meters Centerline goodness : 0.108312 with order 1 Centerline is valid? [False, False] Translation: X:-9.56, Y:-0.12, Z:1.02 [[ 9.97918770e-01 2.03863175e-04 -6.44832276e-02 -9.56117363e+00] [-5.36416967e-04 9.99986647e-01 -5.13994290e-03 -1.20565054e-01] [ 6.44813186e-02 5.16383540e-03 9.97905554e-01 1.02022462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36255784400004 meters Centerline goodness : 0.113267 with order 1 Centerline is valid? [False, False] Translation: X:-9.56, Y:-0.11, Z:1.02 [[ 9.97913139e-01 3.52769221e-03 -6.44741930e-02 -9.56109685e+00] [-3.73980144e-03 9.99987984e-01 -3.16944130e-03 -1.08026123e-01] [ 6.44622374e-02 3.40394780e-03 9.97914342e-01 1.02034148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42255784400004 meters SLAMing on 258.48255784400004 meters SLAMing on 258.542557844 meters Centerline goodness : 0.112699 with order 2 Centerline is valid? [False, False] Translation: X:-9.59, Y:-0.06, Z:1.02 [[ 9.97957453e-01 -1.06603456e-02 -6.29863458e-02 -9.59385734e+00] [ 1.05725446e-02 9.99942618e-01 -1.72710882e-03 -6.34347495e-02] [ 6.30011431e-02 1.05765517e-03 9.98012894e-01 1.01750380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.602557844 meters Centerline goodness : 0.193093 with order 3 Centerline is valid? [False, False] Translation: X:-9.59, Y:-0.06, Z:1.02 [[ 9.97823056e-01 -1.21806668e-02 -6.48134282e-02 -9.58801963e+00] [ 1.20002655e-02 9.99922963e-01 -3.17197911e-03 -5.89330496e-02] [ 6.48470720e-02 2.38729554e-03 9.97892358e-01 1.01581934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.662557844 meters Centerline goodness : 0.176629 with order 1 Centerline is valid? [False, False] Translation: X:-9.59, Y:-0.06, Z:1.02 [[ 9.97835918e-01 -1.22946855e-02 -6.45935107e-02 -9.58883917e+00] [ 1.21063756e-02 9.99921250e-01 -3.30591906e-03 -5.81810775e-02] [ 6.46290692e-02 2.51677149e-03 9.97906183e-01 1.01617732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.722557844 meters Centerline goodness : 0.157183 with order 3 Centerline is valid? [False, False] Translation: X:-9.57, Y:-0.06, Z:1.02 [[ 9.98079804e-01 -5.47485842e-03 -6.16987144e-02 -9.57354865e+00] [ 5.10570224e-03 9.99968120e-01 -6.13927853e-03 -6.07059932e-02] [ 6.17303591e-02 5.81247464e-03 9.98075938e-01 1.01961789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.782557844 meters Centerline goodness : 0.172623 with order 1 Centerline is valid? [False, False] Translation: X:-9.57, Y:-0.06, Z:1.02 [[ 9.98059337e-01 -2.23314164e-03 -6.22300009e-02 -9.57137069e+00] [ 2.04704976e-03 9.99993241e-01 -3.05398387e-03 -5.99701889e-02] [ 6.22364003e-02 2.92066921e-03 9.98057163e-01 1.01863440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.842557844 meters Centerline goodness : 0.175648 with order 1 Centerline is valid? [False, False] Translation: X:-9.59, Y:-0.06, Z:1.02 [[ 9.97992499e-01 7.26818335e-03 -6.29137885e-02 -9.59463773e+00] [-7.49304547e-03 9.99966352e-01 -3.33892438e-03 -5.79551485e-02] [ 6.28874037e-02 3.80363737e-03 9.98013380e-01 1.01752295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.902557844 meters Centerline goodness : 0.109952 with order 2 Centerline is valid? [False, False] Translation: X:-9.60, Y:-0.05, Z:1.02 [[ 9.98055410e-01 9.33716589e-03 -6.16296667e-02 -9.60043875e+00] [-9.46905246e-03 9.99953459e-01 -1.84826081e-03 -5.38387454e-02] [ 6.16095409e-02 2.42824124e-03 9.98097374e-01 1.02017466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.962557844 meters Centerline goodness : 0.177524 with order 1 Centerline is valid? [False, False] Translation: X:-9.59, Y:-0.05, Z:1.02 [[ 9.97955436e-01 1.12990942e-02 -6.29069087e-02 -9.59365531e+00] [-1.13708217e-02 9.99935044e-01 -7.82314986e-04 -4.64879443e-02] [ 6.28939831e-02 1.49601873e-03 9.98019092e-01 1.01654546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.022557844 meters Centerline goodness : 0.174890 with order 1 Centerline is valid? [False, False] Translation: X:-9.64, Y:-0.04, Z:1.02 [[ 9.97779665e-01 1.20345264e-02 -6.55050360e-02 -9.63930414e+00] [-1.20921927e-02 9.99926770e-01 -4.83915943e-04 -3.69752463e-02] [ 6.54944153e-02 1.27494101e-03 9.97852121e-01 1.01512810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.082557844 meters Centerline goodness : 0.179494 with order 1 Centerline is valid? [False, False] Translation: X:-9.62, Y:-0.03, Z:1.02 [[ 9.97912752e-01 4.99312598e-03 -6.43832915e-02 -9.62193256e+00] [-4.94424512e-03 9.99987355e-01 9.18523796e-04 -2.64985580e-02] [ 6.43870637e-02 -5.98279835e-04 9.97924821e-01 1.01909673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.142557844 meters Centerline goodness : 0.104443 with order 2 Centerline is valid? [False, False] Translation: X:-9.62, Y:-0.02, Z:1.02 [[ 9.97930743e-01 4.14274994e-03 -6.41643957e-02 -9.62232689e+00] [-4.19598871e-03 9.99990955e-01 -6.94990762e-04 -1.91312846e-02] [ 6.41609362e-02 9.62785727e-04 9.97939100e-01 1.01899927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.202557844 meters Centerline goodness : 0.176338 with order 1 Centerline is valid? [False, False] Translation: X:-9.62, Y:-0.01, Z:1.02 [[ 9.97951371e-01 3.70093437e-03 -6.38698986e-02 -9.62285318e+00] [-3.81277990e-03 9.99991404e-01 -1.62934915e-03 -1.46726289e-02] [ 6.38633194e-02 1.86953308e-03 9.97956904e-01 1.01873938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.262557844 meters Centerline goodness : 0.177091 with order 1 Centerline is valid? [False, False] Translation: X:-9.62, Y:-0.01, Z:1.02 [[ 9.97947831e-01 3.31047629e-03 -6.39466003e-02 -9.62223717e+00] [-3.47500037e-03 9.99990932e-01 -2.46178552e-03 -1.05262967e-02] [ 6.39378708e-02 2.67894798e-03 9.97950285e-01 1.01821208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.322557844 meters Centerline goodness : 0.173517 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:0.00, Z:1.02 [[ 9.97726207e-01 4.02074169e-03 -6.72774098e-02 -9.66569459e+00] [-4.16656994e-03 9.99989265e-01 -2.02738921e-03 4.85765598e-04] [ 6.72685360e-02 2.30309538e-03 9.97732249e-01 1.01630933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.382557844 meters Centerline goodness : 0.177060 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:0.01, Z:1.02 [[ 9.97735887e-01 3.59300872e-03 -6.71579531e-02 -9.66600199e+00] [-3.80326876e-03 9.99988258e-01 -3.00323623e-03 5.15928353e-03] [ 6.71463739e-02 3.25185631e-03 9.97737836e-01 1.01644497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442557844 meters Centerline goodness : 0.172234 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:0.01, Z:1.02 [[ 9.97716753e-01 3.19885138e-03 -6.74614530e-02 -9.66492378e+00] [-3.47307942e-03 9.99986175e-01 -3.94806749e-03 9.87172299e-03] [ 6.74478911e-02 4.17335207e-03 9.97714070e-01 1.01613408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502557844 meters Centerline goodness : 0.171927 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:0.01, Z:1.02 [[ 9.97661245e-01 6.86892823e-03 -6.80063032e-02 -9.66279337e+00] [-6.95216066e-03 9.99975346e-01 -9.87296455e-04 1.49553651e-02] [ 6.79978449e-02 1.45777816e-03 9.97684403e-01 1.01524196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562557844 meters Centerline goodness : 0.175010 with order 1 Centerline is valid? [False, False] Translation: X:-9.64, Y:0.02, Z:1.02 [[ 9.97749163e-01 -1.41257046e-03 -6.70418663e-02 -9.64402837e+00] [ 1.36586473e-03 9.99998792e-01 -7.42496657e-04 2.47496774e-02] [ 6.70428341e-02 6.49255298e-04 9.97749887e-01 1.01755138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622557844 meters Centerline goodness : 0.125473 with order 2 Centerline is valid? [False, False] Translation: X:-9.64, Y:0.03, Z:1.02 [[ 9.97758336e-01 -1.70521049e-03 -6.68983878e-02 -9.64443535e+00] [ 1.61913310e-03 9.99997790e-01 -1.34088692e-03 2.75851974e-02] [ 6.69005264e-02 1.22956371e-03 9.97758893e-01 1.01762430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68255784400003 meters Centerline goodness : 0.172776 with order 1 Centerline is valid? [False, False] Translation: X:-9.69, Y:0.03, Z:1.02 [[ 9.97534247e-01 -1.97236858e-03 -7.01536561e-02 -9.68838337e+00] [ 1.84003866e-03 9.99996404e-01 -1.95085930e-03 3.43040416e-02] [ 7.01572517e-02 1.81696352e-03 9.97534289e-01 1.01563887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74255784400003 meters Centerline goodness : 0.140852 with order 3 Centerline is valid? [False, False] Translation: X:-9.69, Y:0.04, Z:1.01 [[ 9.97501452e-01 -2.45909404e-03 -7.06031657e-02 -9.68632391e+00] [ 2.26698642e-03 9.99993508e-01 -2.80094843e-03 3.84374357e-02] [ 7.06095951e-02 2.63389370e-03 9.97500550e-01 1.01441979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80255784400003 meters Centerline goodness : 0.139496 with order 3 Centerline is valid? [False, False] Translation: X:-9.69, Y:0.04, Z:1.02 [[ 9.97530348e-01 -2.69412920e-03 -7.01850876e-02 -9.68784017e+00] [ 2.47750812e-03 9.99991896e-01 -3.17329280e-03 4.01194483e-02] [ 7.01930681e-02 2.99157174e-03 9.97528939e-01 1.01504748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86255784400004 meters Centerline goodness : 0.144112 with order 3 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.04, Z:1.01 [[ 9.97386649e-01 -3.43516815e-03 -7.21669756e-02 -9.73505171e+00] [ 3.15226615e-03 9.99986896e-01 -4.03363115e-03 4.45702565e-02] [ 7.21798861e-02 3.79560034e-03 9.97384408e-01 1.01367196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92255784400004 meters Centerline goodness : 0.147455 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.05, Z:1.01 [[ 9.97393215e-01 -3.59436673e-03 -7.20684062e-02 -9.73497123e+00] [ 3.29801073e-03 9.99985612e-01 -4.23072341e-03 4.52623128e-02] [ 7.20825760e-02 3.98201245e-03 9.97390719e-01 1.01319816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98255784400004 meters Centerline goodness : 0.142617 with order 3 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.05, Z:1.01 [[ 9.97420163e-01 -3.73696976e-03 -7.16871906e-02 -9.73624144e+00] [ 3.41423336e-03 9.99983481e-01 -4.62401769e-03 4.71641545e-02] [ 7.17032862e-02 4.36733168e-03 9.97416445e-01 1.01368543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.042557844 meters Centerline goodness : 0.170591 with order 1 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.05, Z:1.01 [[ 9.97407995e-01 -3.98030181e-03 -7.18432179e-02 -9.73589760e+00] [ 3.60621319e-03 9.99979261e-01 -5.33597193e-03 5.06921467e-02] [ 7.18629667e-02 5.06305910e-03 9.97401664e-01 1.01390918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.102557844 meters Centerline goodness : 0.142531 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.05, Z:1.01 [[ 9.97394927e-01 -8.53467405e-04 -7.21292638e-02 -9.73428809e+00] [ 6.71908527e-04 9.99996545e-01 -2.54135824e-03 5.24026006e-02] [ 7.21311836e-02 2.48627355e-03 9.97392055e-01 1.01287990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.162557844 meters Centerline goodness : 0.144562 with order 2 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.06, Z:1.01 [[ 9.97414312e-01 -9.84487413e-04 -7.18590422e-02 -9.73519544e+00] [ 7.64682652e-04 9.99994945e-01 -3.08627848e-03 5.51870724e-02] [ 7.18617174e-02 3.02334896e-03 9.97410022e-01 1.01331178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.222557844 meters Centerline goodness : 0.139879 with order 3 Centerline is valid? [False, False] Translation: X:-9.74, Y:0.06, Z:1.01 [[ 9.97404463e-01 -1.14249213e-03 -7.19932732e-02 -9.73507436e+00] [ 8.89490977e-04 9.99993317e-01 -3.54619555e-03 5.76339193e-02] [ 7.19968436e-02 3.47295390e-03 9.97398813e-01 1.01366387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.282557844 meters Centerline goodness : 0.143617 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.06, Z:1.01 [[ 9.97402847e-01 -1.15048886e-03 -7.20155344e-02 -9.73491224e+00] [ 8.82470733e-04 9.99992567e-01 -3.75337752e-03 5.91310067e-02] [ 7.20193173e-02 3.68007782e-03 9.97396448e-01 1.01356767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.342557844 meters Centerline goodness : 0.140523 with order 3 Centerline is valid? [False, False] Translation: X:-9.78, Y:0.07, Z:1.01 [[ 9.97315202e-01 4.54491764e-04 -7.32269128e-02 -9.78411681e+00] [-7.36862531e-04 9.99992397e-01 -3.82913719e-03 6.70949609e-02] [ 7.32246157e-02 3.87281490e-03 9.97307955e-01 1.01290101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.402557844 meters Centerline goodness : 0.140975 with order 3 Centerline is valid? [False, False] Translation: X:-9.78, Y:0.07, Z:1.01 [[ 9.97278005e-01 4.58680446e-03 -7.35903647e-02 -9.78260115e+00] [-4.61666203e-03 9.99989315e-01 -2.35629323e-04 6.94136867e-02] [ 7.35884976e-02 5.74729784e-04 9.97288525e-01 1.01212407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.462557844 meters Centerline goodness : 0.140559 with order 3 Centerline is valid? [False, False] Translation: X:-9.78, Y:0.07, Z:1.01 [[ 9.97261852e-01 4.29481724e-03 -7.38265092e-02 -9.78164212e+00] [-4.37615645e-03 9.99989983e-01 -9.40037286e-04 7.26685511e-02] [ 7.38217324e-02 1.26053968e-03 9.97270657e-01 1.01163523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.522557844 meters Centerline goodness : 0.143227 with order 3 Centerline is valid? [False, False] Translation: X:-9.76, Y:0.08, Z:1.02 [[ 9.97295465e-01 -3.03231714e-03 -7.34340608e-02 -9.76473323e+00] [ 3.08342876e-03 9.99995076e-01 5.82662935e-04 8.23460843e-02] [ 7.34319324e-02 -8.07515797e-04 9.97299904e-01 1.01583059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.582557844 meters Centerline goodness : 0.150048 with order 3 Centerline is valid? [False, False] Translation: X:-9.76, Y:0.08, Z:1.02 [[ 9.97294982e-01 -3.27606025e-03 -7.34301429e-02 -9.76477854e+00] [ 3.29247394e-03 9.99994575e-01 1.02482026e-04 8.46795669e-02] [ 7.34294087e-02 -3.43971642e-04 9.97300358e-01 1.01590244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.642557844 meters Centerline goodness : 0.139641 with order 3 Centerline is valid? [False, False] Translation: X:-9.76, Y:0.09, Z:1.02 [[ 9.97286212e-01 -3.61767645e-03 -7.35331484e-02 -9.76422335e+00] [ 3.61259436e-03 9.99993454e-01 -2.02116003e-04 8.55510623e-02] [ 7.35333982e-02 -6.40779340e-05 9.97292753e-01 1.01540840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.702557844 meters Centerline goodness : 0.199194 with order 3 Centerline is valid? [False, False] Translation: X:-9.77, Y:0.09, Z:1.02 [[ 9.97379922e-01 -1.21078100e-03 -7.23313589e-02 -9.76814365e+00] [ 1.35530600e-03 9.99997182e-01 1.94904955e-03 8.97225386e-02] [ 7.23287952e-02 -2.04197401e-03 9.97378752e-01 1.01620215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.762557844 meters Centerline goodness : 0.136997 with order 3 Centerline is valid? [False, False] Translation: X:-9.77, Y:0.09, Z:1.02 [[ 9.97365651e-01 -1.55231502e-03 -7.25213678e-02 -9.76739067e+00] [ 1.64709515e-03 9.99997866e-01 1.24714168e-03 9.27647122e-02] [ 7.25192771e-02 -1.36330586e-03 9.97366079e-01 1.01583494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.822557844 meters Centerline goodness : 0.139660 with order 3 Centerline is valid? [False, False] Translation: X:-9.77, Y:0.10, Z:1.02 [[ 9.97345061e-01 2.15616529e-03 -7.27886041e-02 -9.76638802e+00] [-1.87458153e-03 9.99990494e-01 3.93660751e-03 9.87898298e-02] [ 7.27964002e-02 -3.78970788e-03 9.97339622e-01 1.01549439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.882557844 meters Centerline goodness : 0.143002 with order 3 Centerline is valid? [False, False] Translation: X:-9.77, Y:0.10, Z:1.02 [[ 9.97370344e-01 5.88915226e-03 -7.22337508e-02 -9.76754960e+00] [-5.41128292e-03 9.99962174e-01 6.80950921e-03 1.03450355e-01] [ 7.22711207e-02 -6.40072528e-03 9.97364485e-01 1.01529261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942557844 meters Centerline goodness : 0.203370 with order 3 Centerline is valid? [False, False] Translation: X:-9.77, Y:0.11, Z:1.02 [[ 9.97391962e-01 5.53869334e-03 -7.19624678e-02 -9.76840823e+00] [-5.14278143e-03 9.99970612e-01 5.68576529e-03 1.09510725e-01] [ 7.19918447e-02 -5.30084935e-03 9.97391135e-01 1.01561026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002557844 meters Centerline goodness : 0.137023 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.12, Z:1.01 [[ 9.97340934e-01 4.37030426e-04 -7.28757154e-02 -9.78992943e+00] [ 1.83560247e-04 9.99963782e-01 8.50882552e-03 1.20929934e-01] [ 7.28767946e-02 -8.49957707e-03 9.97304733e-01 1.01340103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062557844 meters Centerline goodness : 0.155092 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.13, Z:1.01 [[ 9.97290186e-01 1.03237410e-05 -7.35682275e-02 -9.78726846e+00] [ 5.35633896e-04 9.99972466e-01 7.40137290e-03 1.28779953e-01] [ 7.35662782e-02 -7.42072219e-03 9.97262721e-01 1.01238375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122557844 meters Centerline goodness : 0.137551 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.13, Z:1.01 [[ 9.97265782e-01 -3.55752130e-04 -7.38974569e-02 -9.78626468e+00] [ 8.40627750e-04 9.99978323e-01 6.53046656e-03 1.33632968e-01] [ 7.38935318e-02 -6.57473109e-03 9.97244463e-01 1.01227853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18255784400003 meters Centerline goodness : 0.148174 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.14, Z:1.01 [[ 9.97267881e-01 -8.98122743e-04 -7.38645139e-02 -9.78625436e+00] [ 1.30400110e-03 9.99984316e-01 5.44686126e-03 1.38753772e-01] [ 7.38584634e-02 -5.52829920e-03 9.97253411e-01 1.01215271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24255784400003 meters Centerline goodness : 0.164909 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.15, Z:1.01 [[ 9.97260244e-01 -1.48880857e-03 -7.39580267e-02 -9.78542626e+00] [ 1.81043176e-03 9.99989194e-01 4.28187650e-03 1.45667005e-01] [ 7.39508527e-02 -4.40404116e-03 9.97252163e-01 1.01152644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30255784400003 meters Centerline goodness : 0.141253 with order 3 Centerline is valid? [False, False] Translation: X:-9.78, Y:0.15, Z:1.01 [[ 9.97248679e-01 -1.87209812e-03 -7.41051074e-02 -9.78445681e+00] [ 2.14597927e-03 9.99991158e-01 3.61639618e-03 1.48651097e-01] [ 7.40976819e-02 -3.76547433e-03 9.97243879e-01 1.01068837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36255784400004 meters Centerline goodness : 0.142594 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.15, Z:1.01 [[ 9.97263746e-01 -2.26433811e-03 -7.38910887e-02 -9.78525296e+00] [ 2.48587801e-03 9.99992687e-01 2.90636502e-03 1.51763535e-01] [ 7.38839673e-02 -3.08209671e-03 9.97262082e-01 1.01104288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42255784400004 meters Centerline goodness : 0.159562 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.16, Z:1.01 [[ 9.97301346e-01 -2.76105423e-03 -7.33648609e-02 -9.78700488e+00] [ 2.92114281e-03 9.99993581e-01 2.07487827e-03 1.55561847e-01] [ 7.33586611e-02 -2.28358813e-03 9.97303009e-01 1.01164978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48255784400004 meters Centerline goodness : 0.151674 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.16, Z:1.01 [[ 9.97321816e-01 -3.03775634e-03 -7.30750822e-02 -9.78803728e+00] [ 3.16435056e-03 9.99993687e-01 1.61667529e-03 1.57358053e-01] [ 7.30697098e-02 -1.84358071e-03 9.97325132e-01 1.01207419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.542557844 meters Centerline goodness : 0.157743 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.16, Z:1.01 [[ 9.97353783e-01 -3.30023881e-03 -7.26260237e-02 -9.78994725e+00] [ 3.39491293e-03 9.99993541e-01 1.18017974e-03 1.58933081e-01] [ 7.26216597e-02 -1.42361575e-03 9.97358545e-01 1.01314246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.602557844 meters Centerline goodness : 0.142971 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.16, Z:1.01 [[ 9.97355841e-01 -3.46935401e-03 -7.25898758e-02 -9.79017591e+00] [ 3.53668004e-03 9.99993427e-01 7.98972285e-04 1.60788927e-01] [ 7.25866267e-02 -1.05358684e-03 9.97361555e-01 1.01335325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.662557844 meters Centerline goodness : 0.154427 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.16, Z:1.01 [[ 9.97325395e-01 -3.51354979e-03 -7.30048707e-02 -9.78867749e+00] [ 3.57380640e-03 9.99993373e-01 6.94767033e-04 1.60891091e-01] [ 7.30019457e-02 -9.53814080e-04 9.97331342e-01 1.01273330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.722557844 meters Centerline goodness : 0.129466 with order 3 Centerline is valid? [False, False] Translation: X:-9.83, Y:0.16, Z:1.01 [[ 9.97128605e-01 -1.16242596e-03 -7.57178553e-02 -9.83439582e+00] [ 1.26623107e-03 9.99998323e-01 1.32295363e-03 1.64876115e-01] [ 7.57161905e-02 -1.41503121e-03 9.97128405e-01 1.01096139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.782557844 meters Centerline goodness : 0.144736 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.16, Z:1.01 [[ 9.97252039e-01 1.38473820e-03 -7.40705981e-02 -9.79049994e+00] [-1.07797588e-03 9.99990677e-01 4.18130343e-03 1.64020095e-01] [ 7.40756976e-02 -4.08996705e-03 9.97244234e-01 1.01374787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.842557844 meters Centerline goodness : 0.142358 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.17, Z:1.01 [[ 9.97303626e-01 3.43134172e-03 -7.33055510e-02 -9.79301118e+00] [-3.05661058e-03 9.99981686e-01 5.22347984e-03 1.69980550e-01] [ 7.33221320e-02 -4.98532886e-03 9.97295850e-01 1.01447806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.902557844 meters Centerline goodness : 0.361543 with order 1 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.18, Z:1.01 [[ 9.97276282e-01 8.01785347e-03 -7.33193744e-02 -9.79195603e+00] [-7.46232003e-03 9.99941362e-01 7.84770113e-03 1.79345207e-01] [ 7.33779969e-02 -7.27919357e-03 9.97277636e-01 1.01235770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.962557844 meters Centerline goodness : 0.075688 with order 1 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.19, Z:1.01 [[ 9.97240055e-01 1.14807446e-02 -7.33516513e-02 -9.79109154e+00] [-1.07677715e-02 9.99890936e-01 1.01080129e-02 1.85197426e-01] [ 7.34596988e-02 -9.29028154e-03 9.97254914e-01 1.01100845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.022557844 meters Centerline goodness : 0.084863 with order 1 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.19, Z:1.01 [[ 9.97272513e-01 1.13975163e-02 -7.29220945e-02 -9.79294551e+00] [-1.07576359e-02 9.99900164e-01 9.16160968e-03 1.89630137e-01] [ 7.30192338e-02 -8.35215217e-03 9.97295560e-01 1.01166034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.082557844 meters Centerline goodness : 0.197426 with order 3 Centerline is valid? [False, False] Translation: X:-9.79, Y:0.20, Z:1.01 [[ 0.99728045 0.01509433 -0.07213789 -9.79458442] [-0.01432087 0.99983442 0.0112272 0.197082 ] [ 0.07229541 -0.01016359 0.99733148 1.01066473] [ 0. 0. 0. 1. ]] SLAMing on 262.142557844 meters Centerline goodness : 0.209337 with order 3 Centerline is valid? [False, False] Translation: X:-9.80, Y:0.20, Z:1.01 [[ 9.97315033e-01 1.50238890e-02 -7.16729159e-02 -9.79607902e+00] [-1.43471417e-02 9.99847590e-01 9.94767810e-03 2.02271901e-01] [ 7.18114451e-02 -8.89266743e-03 9.97378582e-01 1.01026580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.202557844 meters SLAMing on 262.262557844 meters Centerline goodness : 0.137219 with order 3 Centerline is valid? [False, False] Translation: X:-9.81, Y:0.22, Z:1.01 [[ 9.97306779e-01 8.37556757e-03 -7.28631552e-02 -9.80894801e+00] [-7.57909979e-03 9.99908547e-01 1.12006405e-02 2.21040135e-01] [ 7.29503034e-02 -1.06182376e-02 9.97279051e-01 1.00720197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.322557844 meters Centerline goodness : 0.089567 with order 1 Centerline is valid? [False, False] Translation: X:-9.77, Y:0.22, Z:1.01 [[ 9.97434991e-01 8.28153901e-03 -7.10975085e-02 -9.76559922e+00] [-7.43184057e-03 9.99897868e-01 1.22073950e-02 2.22252496e-01] [ 7.11913433e-02 -1.16476976e-02 9.97394668e-01 1.00997835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.382557844 meters Centerline goodness : 0.209772 with order 3 Centerline is valid? [False, False] Translation: X:-9.76, Y:0.23, Z:1.01 [[ 9.97407826e-01 8.09301899e-03 -7.14991788e-02 -9.76449873e+00] [-7.28855041e-03 9.99907250e-01 1.15051831e-02 2.25731461e-01] [ 7.15856589e-02 -1.09542343e-02 9.97374302e-01 1.00982092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442557844 meters Centerline goodness : 0.084913 with order 1 Centerline is valid? [False, False] Translation: X:-9.75, Y:0.23, Z:1.01 [[ 9.97491820e-01 6.81578294e-04 -7.07785555e-02 -9.74950674e+00] [ 2.00907717e-04 9.99922346e-01 1.24604008e-02 2.32585975e-01] [ 7.07815520e-02 -1.24433678e-02 9.97414224e-01 1.01191029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502557844 meters Centerline goodness : 0.085730 with order 1 Centerline is valid? [False, False] Translation: X:-9.75, Y:0.23, Z:1.01 [[ 9.97436664e-01 -1.98091589e-03 -7.15274554e-02 -9.74616643e+00] [ 2.70204510e-03 9.99946483e-01 9.98650057e-03 2.30028158e-01] [ 7.15038450e-02 -1.01541722e-02 9.97388637e-01 1.01057466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562557844 meters Centerline goodness : 0.145602 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.22, Z:1.01 [[ 9.97422628e-01 5.90954076e-03 -7.15064932e-02 -9.72565612e+00] [-5.24527671e-03 9.99941366e-01 9.47377699e-03 2.24325698e-01] [ 7.15582861e-02 -9.07428819e-03 9.97395142e-01 1.01330243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622557844 meters Centerline goodness : 0.164822 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.22, Z:1.02 [[ 9.97538972e-01 1.45439848e-02 -6.85891562e-02 -9.70855354e+00] [-1.39704425e-02 9.99863382e-01 8.83429692e-03 2.20014671e-01] [ 6.87082715e-02 -7.85433461e-03 9.97605876e-01 1.01609250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68255784400003 meters SLAMing on 262.74255784400003 meters Centerline goodness : 0.140503 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.22, Z:1.01 [[ 9.97578541e-01 1.61580857e-02 -6.76459201e-02 -9.71123828e+00] [-1.55401345e-02 9.99832663e-01 9.65139043e-03 2.18193148e-01] [ 6.77905484e-02 -8.57679328e-03 9.97662709e-01 1.01480381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80255784400003 meters Centerline goodness : 0.134704 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.22, Z:1.01 [[ 9.97628229e-01 1.27354717e-02 -6.76440987e-02 -9.71182596e+00] [-1.23683973e-02 9.99906439e-01 5.84260659e-03 2.17406665e-01] [ 6.77121782e-02 -4.99210018e-03 9.97692407e-01 1.01398229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86255784400004 meters Centerline goodness : 0.181543 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.22, Z:1.01 [[ 9.97627613e-01 1.31180644e-02 -6.75800380e-02 -9.71240417e+00] [-1.27161199e-02 9.99898828e-01 6.37443950e-03 2.16301859e-01] [ 6.76568211e-02 -5.49996100e-03 9.97693493e-01 1.01455595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92255784400004 meters Centerline goodness : 0.144833 with order 3 Centerline is valid? [False, False] Translation: X:-9.71, Y:0.21, Z:1.01 [[ 9.97621457e-01 1.32726470e-02 -6.76407007e-02 -9.71200716e+00] [-1.28248946e-02 9.99892907e-01 7.04953498e-03 2.13752254e-01] [ 6.77270229e-02 -6.16528250e-03 9.97684840e-01 1.01460965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98255784400004 meters Centerline goodness : 0.139802 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.22, Z:1.01 [[ 9.97616736e-01 2.76944017e-03 -6.89432989e-02 -9.72669891e+00] [-2.20763007e-03 9.99963748e-01 8.22372996e-03 2.15701051e-01] [ 6.89635746e-02 -8.05192934e-03 9.97586684e-01 1.01302848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.042557844 meters Centerline goodness : 0.083197 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.21, Z:1.01 [[ 9.97584060e-01 3.06552173e-03 -6.94020555e-02 -9.72537313e+00] [-2.46844219e-03 9.99959218e-01 8.68732372e-03 2.12623680e-01] [ 6.94258563e-02 -8.49502071e-03 9.97550944e-01 1.01290924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.102557844 meters Centerline goodness : 0.127539 with order 2 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.21, Z:1.01 [[ 9.97558960e-01 3.49849526e-03 -6.97415370e-02 -9.72443412e+00] [-2.86078527e-03 9.99953202e-01 9.24168852e-03 2.10237316e-01] [ 6.97706053e-02 -9.01961363e-03 9.97522285e-01 1.01272508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.162557844 meters Centerline goodness : 0.138337 with order 3 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.21, Z:1.01 [[ 9.97584775e-01 3.83326510e-03 -6.93536064e-02 -9.72537231e+00] [-3.17132718e-03 9.99948390e-01 9.65197895e-03 2.08289800e-01] [ 6.93870256e-02 -9.40872428e-03 9.97545446e-01 1.01262100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.222557844 meters Centerline goodness : 0.161889 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.21, Z:1.01 [[ 9.97616614e-01 4.33806410e-03 -6.88641581e-02 -9.72648933e+00] [-3.65015882e-03 9.99942210e-01 1.01119993e-02 2.06402289e-01] [ 6.89040449e-02 -9.83653340e-03 9.97574797e-01 1.01231553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.282557844 meters Centerline goodness : 0.115075 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:0.20, Z:1.01 [[ 9.97585525e-01 4.65646260e-03 -6.92924109e-02 -9.72514005e+00] [-3.93640151e-03 9.99936867e-01 1.05245502e-02 2.04776863e-01] [ 6.93370435e-02 -1.02263762e-02 9.97540874e-01 1.01185960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.342557844 meters Centerline goodness : 0.110919 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.20, Z:1.01 [[ 9.97554155e-01 5.05544823e-03 -6.97147849e-02 -9.72292839e+00] [-4.27822662e-03 9.99927075e-01 1.12933981e-02 2.01357432e-01] [ 6.97667942e-02 -1.09675206e-02 9.97503037e-01 1.01025118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.402557844 meters Centerline goodness : 0.114363 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.20, Z:1.01 [[ 9.97562859e-01 1.24593382e-03 -6.97623841e-02 -9.72254243e+00] [-6.64238567e-04 9.99964827e-01 8.36081331e-03 1.95767995e-01] [ 6.97703474e-02 -8.29409797e-03 9.97528599e-01 1.00989119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.462557844 meters Centerline goodness : 0.114657 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.19, Z:1.01 [[ 9.97565015e-01 1.68030061e-03 -6.97224313e-02 -9.72255963e+00] [-1.02831259e-03 9.99955421e-01 9.38603300e-03 1.90860798e-01] [ 6.97350946e-02 -9.29148170e-03 9.97522273e-01 1.00991574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.522557844 meters Centerline goodness : 0.244101 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.19, Z:1.01 [[ 9.97535196e-01 -1.98826159e-03 -7.01397100e-02 -9.72076027e+00] [ 2.44403471e-03 9.99976451e-01 6.41285612e-03 1.86413491e-01] [ 7.01253078e-02 -6.56847358e-03 9.97516564e-01 1.00902949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.582557844 meters Centerline goodness : 0.114093 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.18, Z:1.01 [[ 9.97512967e-01 -1.70252212e-03 -7.04626332e-02 -9.71989535e+00] [ 2.19902917e-03 9.99973295e-01 6.96941676e-03 1.83739619e-01] [ 7.04488860e-02 -7.10703297e-03 9.97490072e-01 1.00906572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.642557844 meters Centerline goodness : 0.247386 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.18, Z:1.01 [[ 9.97511774e-01 -1.48776951e-03 -7.04843750e-02 -9.72010272e+00] [ 2.01277476e-03 9.99970756e-01 7.37809656e-03 1.81853893e-01] [ 7.04713369e-02 -7.50160736e-03 9.97485597e-01 1.00949383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.702557844 meters Centerline goodness : 0.118129 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.18, Z:1.01 [[ 9.97508023e-01 -1.34491410e-03 -7.05403107e-02 -9.71992337e+00] [ 1.87725742e-03 9.99970256e-01 7.48090339e-03 1.81744250e-01] [ 7.05281514e-02 -7.59468347e-03 9.97480877e-01 1.00940281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.762557844 meters Centerline goodness : 0.112141 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.18, Z:1.01 [[ 9.97545709e-01 -1.24941178e-03 -7.00071240e-02 -9.72210098e+00] [ 1.80134983e-03 9.99967790e-01 7.82145056e-03 1.79687098e-01] [ 6.99950968e-02 -7.92836177e-03 9.97515828e-01 1.01057338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.822557844 meters Centerline goodness : 0.108671 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.18, Z:1.01 [[ 9.97548546e-01 -1.04830768e-03 -6.99699914e-02 -9.72213119e+00] [ 1.64268811e-03 9.99963052e-01 8.43779134e-03 1.76654553e-01] [ 6.99585608e-02 -8.53204535e-03 9.97513410e-01 1.01058625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.882557844 meters Centerline goodness : 0.116365 with order 1 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.17, Z:1.01 [[ 9.97567046e-01 -8.39998903e-04 -6.97085559e-02 -9.72260848e+00] [ 1.47950760e-03 9.99957291e-01 9.12291164e-03 1.73164123e-01] [ 6.96979155e-02 -9.20385035e-03 9.97525684e-01 1.01044846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942557844 meters Centerline goodness : 0.230887 with order 3 Centerline is valid? [False, False] Translation: X:-9.72, Y:0.17, Z:1.01 [[ 9.97583570e-01 -5.75004643e-04 -6.94743873e-02 -9.72343768e+00] [ 1.25034336e-03 9.99952389e-01 9.67759128e-03 1.70289086e-01] [ 6.94655150e-02 -9.74107289e-03 9.97536793e-01 1.01079735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002557844 meters Centerline goodness : 0.223005 with order 3 Centerline is valid? [False, False] Translation: X:-9.77, Y:0.17, Z:1.01 [[ 9.97353031e-01 2.33668424e-03 -7.26737374e-02 -9.76732837e+00] [-1.52465879e-03 9.99935812e-01 1.12270432e-02 1.68760819e-01] [ 7.26953067e-02 -1.10865229e-02 9.97292576e-01 1.00850835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062557844 meters Centerline goodness : 0.239241 with order 3 Centerline is valid? [False, False] Translation: X:-9.77, Y:0.17, Z:1.01 [[ 9.97343464e-01 2.75229421e-03 -7.27903792e-02 -9.76676526e+00] [-1.96258698e-03 9.99938467e-01 1.09183599e-02 1.71453654e-01] [ 7.28159507e-02 -1.07464974e-02 9.97287496e-01 1.00785606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122557844 meters Centerline goodness : 0.240964 with order 3 Centerline is valid? [False, False] Translation: X:-9.77, Y:0.18, Z:1.01 [[ 9.97287611e-01 6.88898009e-03 -7.32800353e-02 -9.76542719e+00] [-5.89622251e-03 9.99888009e-01 1.37551643e-02 1.77357608e-01] [ 7.33665877e-02 -1.32857795e-02 9.97216542e-01 1.00735524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18255784400003 meters Centerline goodness : 0.109849 with order 1 Centerline is valid? [False, False] Translation: X:-9.81, Y:0.18, Z:1.01 [[ 9.97073788e-01 7.08151710e-03 -7.61164511e-02 -9.80963383e+00] [-6.12881607e-03 9.99900026e-01 1.27426761e-02 1.78936719e-01] [ 7.61990789e-02 -1.22388846e-02 9.97017507e-01 1.00527972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24255784400003 meters Centerline goodness : 0.243827 with order 3 Centerline is valid? [False, False] Translation: X:-9.81, Y:0.18, Z:1.01 [[ 9.97076621e-01 2.69960989e-03 -7.63604818e-02 -9.80936579e+00] [-2.04572206e-03 9.99960581e-01 8.64009526e-03 1.79284289e-01] [ 7.63807966e-02 -8.45862466e-03 9.97042840e-01 1.00556819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30255784400003 meters Centerline goodness : 0.247506 with order 3 Centerline is valid? [False, False] Translation: X:-9.81, Y:0.18, Z:1.01 [[ 9.97079784e-01 -1.36123419e-03 -7.63547746e-02 -9.80937167e+00] [ 1.78241102e-03 9.99983570e-01 5.44817489e-03 1.75752347e-01] [ 7.63461039e-02 -5.56836063e-03 9.97065828e-01 1.00579521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36255784400004 meters Centerline goodness : 0.251726 with order 3 Centerline is valid? [False, False] Translation: X:-9.82, Y:0.17, Z:1.01 [[ 9.97203722e-01 -3.06900177e-03 -7.46680560e-02 -9.81675273e+00] [ 3.39542884e-03 9.99985225e-01 4.24515999e-03 1.73538701e-01] [ 7.46539244e-02 -4.48681942e-03 9.97199408e-01 1.00907853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42255784400004 meters Centerline goodness : 0.115313 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:0.17, Z:1.01 [[ 9.97204602e-01 -2.90832017e-03 -7.46627331e-02 -9.81710652e+00] [ 3.25674364e-03 9.99984367e-01 4.54530703e-03 1.72300466e-01] [ 7.46483467e-02 -4.77575847e-03 9.97198484e-01 1.00961386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48255784400004 meters Centerline goodness : 0.241053 with order 3 Centerline is valid? [False, False] Translation: X:-9.82, Y:0.17, Z:1.01 [[ 9.97193876e-01 -2.73812891e-03 -7.48122805e-02 -9.81641444e+00] [ 3.11823951e-03 9.99982815e-01 4.96452569e-03 1.69909863e-01] [ 7.47974013e-02 -5.18387722e-03 9.97185277e-01 1.00918354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.542557844 meters Centerline goodness : 0.103773 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:0.17, Z:1.01 [[ 9.97313400e-01 -4.35234437e-03 -7.31234566e-02 -9.82363881e+00] [ 4.64274586e-03 9.99981995e-01 3.80188063e-03 1.67582657e-01] [ 7.31055930e-02 -4.13116012e-03 9.97315650e-01 1.01217270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.602557844 meters Centerline goodness : 0.103787 with order 1 Centerline is valid? [False, False] Translation: X:-9.82, Y:0.17, Z:1.01 [[ 9.97295696e-01 -8.32953863e-03 -7.30199581e-02 -9.82400782e+00] [ 8.37812547e-03 9.99964838e-01 3.59117221e-04 1.65082800e-01] [ 7.30143993e-02 -9.69916429e-04 9.97330415e-01 1.01238399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.662557844 meters Centerline goodness : 0.214447 with order 3 Centerline is valid? [False, False] Translation: X:-9.82, Y:0.16, Z:1.01 [[ 9.97246305e-01 -7.42625512e-03 -7.37879229e-02 -9.82047383e+00] [ 7.59403313e-03 9.99969178e-01 1.99348682e-03 1.58123813e-01] [ 7.37708445e-02 -2.54834530e-03 9.97271963e-01 1.01052608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.722557844 meters Centerline goodness : 0.105956 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.15, Z:1.01 [[ 9.97293603e-01 -5.87264604e-04 -7.35195538e-02 -9.84389054e+00] [ 5.86967452e-04 9.99999827e-01 -2.56478438e-05 1.49505679e-01] [ 7.35195562e-02 -1.75751546e-05 9.97293775e-01 1.00999851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.782557844 meters Centerline goodness : 0.103647 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.15, Z:1.01 [[ 9.97248597e-01 -2.14290399e-04 -7.41295436e-02 -9.84151473e+00] [ 2.64236264e-04 9.99999745e-01 6.63957943e-04 1.45829185e-01] [ 7.41293824e-02 -6.81718841e-04 9.97248399e-01 1.00882852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.842557844 meters Centerline goodness : 0.239784 with order 3 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.14, Z:1.01 [[ 9.97258060e-01 1.69570359e-06 -7.40024443e-02 -9.84123242e+00] [ 7.92000826e-05 9.99999403e-01 1.09021565e-03 1.43716865e-01] [ 7.40024020e-02 -1.09308735e-03 9.97257464e-01 1.00789621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.902557844 meters Centerline goodness : 0.217962 with order 3 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.14, Z:1.01 [[ 9.97294260e-01 4.41429837e-04 -7.35116566e-02 -9.84255301e+00] [-2.66690453e-04 9.99997116e-01 2.38682834e-03 1.36789029e-01] [ 7.35124982e-02 -2.36076535e-03 9.97291502e-01 1.00813569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.962557844 meters Centerline goodness : 0.243294 with order 3 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.13, Z:1.01 [[ 9.97274691e-01 -3.46711991e-03 -7.36964722e-02 -9.84169327e+00] [ 3.42712529e-03 9.99993904e-01 -6.69142711e-04 1.32011040e-01] [ 7.36983429e-02 4.14752046e-04 9.97280493e-01 1.00773015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.022557844 meters Centerline goodness : 0.121158 with order 2 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.12, Z:1.01 [[ 9.97235917e-01 -2.97344606e-03 -7.42407205e-02 -9.83963931e+00] [ 3.02445461e-03 9.99995261e-01 5.74655012e-04 1.22109313e-01] [ 7.42386600e-02 -7.97604307e-04 9.97240184e-01 1.00710213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.082557844 meters Centerline goodness : 0.119681 with order 2 Centerline is valid? [False, False] Translation: X:-9.86, Y:0.11, Z:1.00 [[ 9.97179069e-01 5.35222458e-03 -7.48682694e-02 -9.85919653e+00] [-5.38546860e-03 9.99985469e-01 -2.42155449e-04 1.12880746e-01] [ 7.48658854e-02 6.44673059e-04 9.97193403e-01 1.00467932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.142557844 meters Centerline goodness : 0.160494 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.11, Z:1.01 [[ 9.97356451e-01 -2.13168704e-03 -7.26330862e-02 -9.84047936e+00] [ 2.26022248e-03 9.99996022e-01 1.68750795e-03 1.13434796e-01] [ 7.26292000e-02 -1.84721388e-03 9.97357302e-01 1.00635479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.202557844 meters Centerline goodness : 0.162859 with order 1 Centerline is valid? [False, False] Translation: X:-9.84, Y:0.11, Z:1.01 [[ 9.97376057e-01 -4.28647277e-03 -7.22677481e-02 -9.84318315e+00] [ 4.29205728e-03 9.99990786e-01 -7.80168710e-05 1.09417571e-01] [ 7.22674167e-02 -2.32365155e-04 9.97385265e-01 1.00794524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.262557844 meters Centerline goodness : 0.120321 with order 2 Centerline is valid? [False, False] Translation: X:-9.87, Y:0.10, Z:1.01 [[ 9.97330461e-01 2.34479502e-03 -7.29825554e-02 -9.86604851e+00] [-2.52550365e-03 9.99993969e-01 -2.38386876e-03 1.03498957e-01] [ 7.29765256e-02 2.56182264e-03 9.97330368e-01 1.00711997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322557844 meters Centerline goodness : 0.164318 with order 1 Centerline is valid? [False, False] Translation: X:-9.85, Y:0.10, Z:1.01 [[ 9.97468179e-01 1.09932158e-02 -7.02593851e-02 -9.84552304e+00] [-1.12210247e-02 9.99932985e-01 -2.84853017e-03 1.03245900e-01] [ 7.02233622e-02 3.62970050e-03 9.97524689e-01 1.00875280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382557844 meters Centerline goodness : 0.166732 with order 1 Centerline is valid? [False, False] Translation: X:-9.87, Y:0.11, Z:1.01 [[ 9.97638267e-01 5.50732398e-03 -6.84657413e-02 -9.87104237e+00] [-5.52994749e-03 9.99984700e-01 -1.40910080e-04 1.07651754e-01] [ 6.84639177e-02 5.19189243e-04 9.97653458e-01 1.00813308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442557844 meters Centerline goodness : 0.233597 with order 3 Centerline is valid? [False, False] Translation: X:-9.87, Y:0.11, Z:1.01 [[ 9.97663981e-01 5.54351449e-03 -6.80870758e-02 -9.87233337e+00] [-5.55835476e-03 9.99984552e-01 -2.85146971e-05 1.07116908e-01] [ 6.80858659e-02 4.06900208e-04 9.97679382e-01 1.00862948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502557844 meters Centerline goodness : 0.165170 with order 1 Centerline is valid? [False, False] Translation: X:-9.85, Y:0.11, Z:1.01 [[ 9.97713357e-01 -2.92952581e-03 -6.75238803e-02 -9.85149539e+00] [ 3.00729756e-03 9.99994927e-01 1.05014691e-03 1.08786889e-01] [ 6.75204613e-02 -1.25081000e-03 9.97717106e-01 1.01074807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562557844 meters Centerline goodness : 0.234559 with order 3 Centerline is valid? [False, False] Translation: X:-9.87, Y:0.10, Z:1.01 [[ 9.97634009e-01 5.41330947e-03 -6.85352412e-02 -9.87031658e+00] [-5.40718416e-03 9.99985343e-01 2.74885134e-04 1.01420851e-01] [ 6.85357248e-02 9.63479124e-05 9.97648658e-01 1.00838688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622557844 meters Centerline goodness : 0.161036 with order 1 Centerline is valid? [False, False] Translation: X:-9.87, Y:0.10, Z:1.01 [[ 9.97586239e-01 2.78557585e-03 -6.93825354e-02 -9.86589774e+00] [-2.92282447e-03 9.99993968e-01 -1.87670318e-03 9.71886806e-02] [ 6.93768891e-02 2.07496624e-03 9.97588363e-01 1.00612478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68255784400003 meters Centerline goodness : 0.168012 with order 1 Centerline is valid? [False, False] Translation: X:-9.87, Y:0.09, Z:1.01 [[ 9.97584754e-01 -1.14266940e-03 -6.94503617e-02 -9.86543835e+00] [ 7.73263793e-04 9.99985413e-01 -5.34563905e-03 9.46672625e-02] [ 6.94554569e-02 5.27902457e-03 9.97571086e-01 1.00563977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74255784400003 meters Centerline goodness : 0.154773 with order 1 Centerline is valid? [False, False] Translation: X:-9.88, Y:0.08, Z:1.00 [[ 9.97447939e-01 7.67508579e-03 -7.09838136e-02 -9.88453934e+00] [-8.06582843e-03 9.99953848e-01 -5.21967406e-03 8.27902750e-02] [ 7.09404761e-02 5.77889639e-03 9.97463810e-01 1.00325881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80255784400003 meters Centerline goodness : 0.115667 with order 2 Centerline is valid? [False, False] Translation: X:-9.88, Y:0.08, Z:1.00 [[ 9.97454678e-01 8.30778196e-03 -7.08176999e-02 -9.88451169e+00] [-8.60923922e-03 9.99955128e-01 -3.95263838e-03 7.64788541e-02] [ 7.07816845e-02 4.55226416e-03 9.97481443e-01 1.00265487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86255784400004 meters Centerline goodness : 0.154467 with order 1 Centerline is valid? [False, False] Translation: X:-9.87, Y:0.07, Z:1.00 [[ 9.97558275e-01 2.01096536e-04 -6.98387272e-02 -9.86516586e+00] [-3.89079098e-04 9.99996338e-01 -2.67807392e-03 7.41308964e-02] [ 6.98379329e-02 2.69870759e-03 9.97554700e-01 1.00442241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92255784400004 meters Centerline goodness : 0.148837 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.06, Z:1.00 [[ 9.97614474e-01 6.43998624e-03 -6.87305400e-02 -9.88874018e+00] [-6.75552117e-03 9.99967679e-01 -4.35945384e-03 6.29972743e-02] [ 6.87002438e-02 4.81336487e-03 9.97625735e-01 1.00317800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98255784400004 meters Centerline goodness : 0.124689 with order 2 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.06, Z:1.00 [[ 9.97629388e-01 7.08219127e-03 -6.84503212e-02 -9.88930070e+00] [-7.30833606e-03 9.99968630e-01 -3.05391879e-03 5.68940908e-02] [ 6.84265456e-02 3.54693708e-03 9.97649852e-01 1.00302769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.042557844 meters Centerline goodness : 0.152431 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97616421e-01 7.41605871e-03 -6.86037735e-02 -9.88838888e+00] [-7.59938699e-03 9.99968216e-01 -2.41167855e-03 5.39550864e-02] [ 6.85837078e-02 2.92727674e-03 9.97641071e-01 1.00223074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.102557844 meters Centerline goodness : 0.159590 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97579678e-01 7.85096281e-03 -6.90879721e-02 -9.88657068e+00] [-7.99033520e-03 9.99966561e-01 -1.74119645e-03 5.07779040e-02] [ 6.90719918e-02 2.28901825e-03 9.97609052e-01 1.00132245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.162557844 meters Centerline goodness : 0.154203 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97604849e-01 8.02333701e-03 -6.87036451e-02 -9.88806631e+00] [-8.14328684e-03 9.99965768e-01 -1.46600780e-03 4.97276806e-02] [ 6.86895310e-02 2.02196998e-03 9.97636036e-01 1.00205379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.222557844 meters Centerline goodness : 0.151251 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97636111e-01 8.15769948e-03 -6.82322696e-02 -9.88929382e+00] [-8.25413864e-03 9.99965294e-01 -1.13158213e-03 4.83523272e-02] [ 6.82206705e-02 1.69210581e-03 9.97668821e-01 1.00209857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.282557844 meters Centerline goodness : 0.153436 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97643229e-01 8.21038365e-03 -6.81217804e-02 -9.88944332e+00] [-8.29496329e-03 9.99965137e-01 -9.58820430e-04 4.75416717e-02] [ 6.81115331e-02 1.52162838e-03 9.97676553e-01 1.00190403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.342557844 meters Centerline goodness : 0.157931 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97651462e-01 8.21848330e-03 -6.80001257e-02 -9.88990290e+00] [-8.29971339e-03 9.99965141e-01 -9.12121751e-04 4.74468704e-02] [ 6.79902590e-02 1.47436115e-03 9.97684896e-01 1.00213377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.402557844 meters Centerline goodness : 0.112985 with order 2 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97663916e-01 8.11200249e-03 -6.78299867e-02 -9.89050024e+00] [-8.20517080e-03 9.99965737e-01 -1.09506546e-03 4.81553824e-02] [ 6.78187795e-02 1.64906392e-03 9.97696293e-01 1.00232887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.462557844 meters Centerline goodness : 0.158727 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97666536e-01 7.92106243e-03 -6.78140146e-02 -9.89024633e+00] [-8.03947329e-03 9.99966597e-01 -1.47337701e-03 4.99167984e-02] [ 6.78000788e-02 2.01512790e-03 9.97696892e-01 1.00182840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.522557844 meters Centerline goodness : 0.143222 with order 3 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97697249e-01 3.52563256e-03 -6.77330775e-02 -9.89035684e+00] [-3.93882442e-03 9.99974436e-01 -5.96771729e-03 5.27354677e-02] [ 6.77103060e-02 6.22076382e-03 9.97685630e-01 1.00148010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.582557844 meters Centerline goodness : 0.157313 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:0.05, Z:1.00 [[ 9.97678538e-01 3.43948569e-03 -6.80125294e-02 -9.88911200e+00] [-3.85914857e-03 9.99974313e-01 -6.03995127e-03 5.30597298e-02] [ 6.79900080e-02 6.28840021e-03 9.97666184e-01 1.00073596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.642557844 meters Centerline goodness : 0.154658 with order 1 Centerline is valid? [False, False] Translation: X:-9.91, Y:0.05, Z:1.00 [[ 9.97632137e-01 -5.65482288e-03 -6.85429893e-02 -9.91023303e+00] [ 5.29889349e-03 9.99971523e-01 -5.37349498e-03 5.49158901e-02] [ 6.85714236e-02 4.99756928e-03 9.97633692e-01 9.98574419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.702557844 meters Centerline goodness : 0.164186 with order 1 Centerline is valid? [False, False] Translation: X:-9.91, Y:0.05, Z:1.00 [[ 9.97626334e-01 -5.69787806e-03 -6.86238435e-02 -9.91048129e+00] [ 5.37485572e-03 9.99973595e-01 -4.89086572e-03 5.20841896e-02] [ 6.86498990e-02 4.51041318e-03 9.97630617e-01 9.99378819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.762557844 meters Centerline goodness : 0.132533 with order 2 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.04, Z:1.00 [[ 9.97709047e-01 9.74793671e-04 -6.76439707e-02 -9.92803528e+00] [-1.40741984e-03 9.99978859e-01 -6.34827373e-03 4.25050393e-02] [ 6.76363523e-02 6.42893361e-03 9.97689327e-01 9.95314060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822557844 meters Centerline goodness : 0.105820 with order 2 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.04, Z:1.00 [[ 9.97706479e-01 1.37346287e-03 -6.76749220e-02 -9.92780976e+00] [-1.74916456e-03 9.99983386e-01 -5.49262195e-03 3.85794964e-02] [ 6.76662537e-02 5.59839909e-03 9.97692305e-01 9.95119280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882557844 meters Centerline goodness : 0.163390 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.03, Z:1.00 [[ 9.97752867e-01 -1.30954778e-03 -6.69888143e-02 -9.93116235e+00] [ 8.11854674e-04 9.99971873e-01 -7.45617944e-03 3.32462994e-02] [ 6.69966943e-02 7.38503923e-03 9.97725866e-01 9.96583401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942557844 meters Centerline goodness : 0.162804 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.02, Z:1.00 [[ 9.97762719e-01 -3.96467377e-03 -6.67370861e-02 -9.93373286e+00] [ 3.38497462e-03 9.99955575e-01 -8.79715011e-03 2.38878105e-02] [ 6.67689992e-02 8.55156507e-03 9.97731813e-01 9.98701588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002557844 meters Centerline goodness : 0.171113 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.02, Z:1.00 [[ 9.97751316e-01 -3.57780244e-03 -6.69291454e-02 -9.93310903e+00] [ 3.06241513e-03 9.99964878e-01 -7.80150489e-03 1.88890076e-02] [ 6.69547070e-02 7.57899695e-03 9.97727230e-01 9.98588773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062557844 meters Centerline goodness : 0.164406 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.02, Z:1.00 [[ 9.97737339e-01 -3.10765653e-03 -6.71605904e-02 -9.93172326e+00] [ 2.64160190e-03 9.99971821e-01 -7.02709875e-03 1.54225582e-02] [ 6.71805356e-02 6.83378726e-03 9.97717432e-01 9.97411012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122557844 meters Centerline goodness : 0.164868 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.01, Z:1.00 [[ 9.97722124e-01 -2.93114052e-03 -6.73941571e-02 -9.93079342e+00] [ 2.47200317e-03 9.99973173e-01 -6.89510272e-03 1.49138666e-02] [ 6.74125596e-02 6.71279796e-03 9.97702604e-01 9.96825068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18255784400003 meters Centerline goodness : 0.143537 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.01, Z:1.00 [[ 9.97790893e-01 -2.61267243e-03 -6.63815264e-02 -9.93345214e+00] [ 2.17189798e-03 9.99975120e-01 -6.71131603e-03 1.47121926e-02] [ 6.63974094e-02 6.55231612e-03 9.97771743e-01 9.96883488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24255784400003 meters Centerline goodness : 0.385982 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.01, Z:1.00 [[ 9.97775615e-01 -2.58958533e-03 -6.66116806e-02 -9.93257726e+00] [ 2.15167151e-03 9.99975607e-01 -6.64503272e-03 1.41794795e-02] [ 6.66272636e-02 6.48692515e-03 9.97756848e-01 9.96407049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30255784400003 meters Centerline goodness : 0.379833 with order 1 Centerline is valid? [False, False] Translation: X:-9.91, Y:0.02, Z:1.00 [[ 9.97873812e-01 -1.02474306e-02 -6.43649362e-02 -9.91366029e+00] [ 9.95087579e-03 9.99938354e-01 -4.92629287e-03 1.52315734e-02] [ 6.44114502e-02 4.27533116e-03 9.97914268e-01 9.99010687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36255784400004 meters Centerline goodness : 0.314075 with order 2 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.01, Z:1.00 [[ 9.97930905e-01 -1.02205014e-02 -6.34779468e-02 -9.91637906e+00] [ 9.97037632e-03 9.99941238e-01 -4.25587487e-03 1.11255062e-02] [ 6.35177139e-02 3.61417005e-03 9.97974167e-01 9.99840973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42255784400004 meters Centerline goodness : 0.311815 with order 1 Centerline is valid? [False, False] Translation: X:-9.91, Y:0.00, Z:1.00 [[ 9.97829073e-01 -9.45119959e-03 -6.51752713e-02 -9.90947897e+00] [ 9.29006919e-03 9.99952996e-01 -2.77489019e-03 4.10495917e-03] [ 6.51984338e-02 2.16338332e-03 9.97869973e-01 9.96777265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48255784400004 meters Centerline goodness : 0.165306 with order 1 Centerline is valid? [False, False] Translation: X:-9.95, Y:-0.00, Z:0.99 [[ 9.97611547e-01 -9.72620681e-03 -6.83856834e-02 -9.95312833e+00] [ 9.59420430e-03 9.99951424e-01 -2.25844572e-03 -2.44692066e-03] [ 6.84043276e-02 1.59694531e-03 9.97656403e-01 9.94693763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.542557844 meters Centerline goodness : 0.141174 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:-0.02, Z:1.00 [[ 9.97564468e-01 -2.48892428e-03 -6.97060840e-02 -9.93457110e+00] [ 2.25631218e-03 9.99991621e-01 -3.41557809e-03 -1.61283439e-02] [ 6.97140011e-02 3.24998065e-03 9.97561725e-01 9.99356109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.602557844 meters Centerline goodness : 0.138625 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:-0.02, Z:1.00 [[ 9.97525750e-01 -1.93495099e-03 -7.02754090e-02 -9.93225974e+00] [ 1.77320492e-03 9.99995634e-01 -2.36391329e-03 -2.10065199e-02] [ 7.02796762e-02 2.23345167e-03 9.97524826e-01 9.98167892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.662557844 meters Centerline goodness : 0.154060 with order 3 Centerline is valid? [False, False] Translation: X:-9.91, Y:-0.03, Z:1.00 [[ 9.97598319e-01 7.70759536e-03 -6.88344821e-02 -9.91257531e+00] [-7.88796330e-03 9.99966131e-01 -2.34889003e-03 -3.05813724e-02] [ 6.88140464e-02 2.88621261e-03 9.97625329e-01 1.00018201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.722557844 meters Centerline goodness : 0.148536 with order 3 Centerline is valid? [False, False] Translation: X:-9.91, Y:-0.03, Z:1.00 [[ 9.97590030e-01 8.00148068e-03 -6.89210338e-02 -9.91205095e+00] [-8.14744529e-03 9.99965122e-01 -1.83700939e-03 -3.32478871e-02] [ 6.89039311e-02 2.39411260e-03 9.97620427e-01 9.99764569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.782557844 meters Centerline goodness : 0.150109 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.04, Z:1.00 [[ 9.97651302e-01 5.82995732e-03 -6.82487411e-02 -9.91539330e+00] [-6.06374448e-03 9.99976435e-01 -3.21885262e-03 -3.96929354e-02] [ 6.82283670e-02 3.62513544e-03 9.97663144e-01 1.00114896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.842557844 meters Centerline goodness : 0.215302 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.04, Z:1.00 [[ 9.97672822e-01 1.87610710e-03 -6.81573258e-02 -9.91543456e+00] [-2.31385799e-03 9.99977198e-01 -6.34427634e-03 -4.42363453e-02] [ 6.81438691e-02 6.48721845e-03 9.97654414e-01 1.00091737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.902557844 meters Centerline goodness : 0.134437 with order 2 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.05, Z:1.00 [[ 9.97666395e-01 2.03729630e-03 -6.82467121e-02 -9.91516588e+00] [-2.45301840e-03 9.99978942e-01 -6.00821059e-03 -4.56558515e-02] [ 6.82330344e-02 6.16160024e-03 9.97650383e-01 1.00085851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.962557844 meters Centerline goodness : 0.140336 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.04, Z:1.00 [[ 9.97678862e-01 2.05739953e-03 -6.80636183e-02 -9.91500671e+00] [-2.49956861e-03 9.99976320e-01 -6.41188298e-03 -4.30893914e-02] [ 6.80488147e-02 6.56712979e-03 9.97660379e-01 9.99830552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.022557844 meters Centerline goodness : 0.148158 with order 3 Centerline is valid? [False, False] Translation: X:-9.91, Y:-0.04, Z:1.00 [[ 9.97678556e-01 2.07593060e-03 -6.80675304e-02 -9.91489590e+00] [-2.56980844e-03 9.99971001e-01 -7.16894485e-03 -3.85518596e-02] [ 6.80506743e-02 7.32722307e-03 9.97654959e-01 9.99404615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.082557844 meters Centerline goodness : 0.149323 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.03, Z:1.00 [[ 9.97682174e-01 2.10653649e-03 -6.80135474e-02 -9.91506939e+00] [-2.64583081e-03 9.99965766e-01 -7.84011255e-03 -3.39631655e-02] [ 6.79947035e-02 8.00189287e-03 9.97653592e-01 9.99198518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.142557844 meters Centerline goodness : 0.135405 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.03, Z:1.00 [[ 9.97716135e-01 1.70890805e-03 -6.75247686e-02 -9.91705837e+00] [-2.28007509e-03 9.99962267e-01 -8.38246685e-03 -3.20649757e-02] [ 6.75078958e-02 8.51728397e-03 9.97682384e-01 1.00024332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.202557844 meters Centerline goodness : 0.151622 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.03, Z:1.00 [[ 9.97707149e-01 1.39156512e-03 -6.76646721e-02 -9.91688301e+00] [-1.97465235e-03 9.99961488e-01 -8.55118660e-03 -3.19641177e-02] [ 6.76501667e-02 8.66519421e-03 9.97671474e-01 1.00058186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.262557844 meters Centerline goodness : 0.144017 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.03, Z:1.00 [[ 9.97704867e-01 1.07991308e-03 -6.77039988e-02 -9.91665952e+00] [-1.70171558e-03 9.99956899e-01 -9.12713263e-03 -2.92414833e-02] [ 6.76912242e-02 9.22139760e-03 9.97663703e-01 1.00040274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.322557844 meters Centerline goodness : 0.146378 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.03, Z:1.00 [[ 9.97694145e-01 8.96599555e-04 -6.78644936e-02 -9.91631671e+00] [-1.56027970e-03 9.99951473e-01 -9.72711708e-03 -2.61119209e-02] [ 6.78524790e-02 9.81057535e-03 9.97647129e-01 1.00039767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.382557844 meters Centerline goodness : 0.147567 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.02, Z:1.00 [[ 9.97663553e-01 1.32742166e-03 -6.83057368e-02 -9.91504456e+00] [-2.01992333e-03 9.99947254e-01 -1.00701971e-02 -2.14990933e-02] [ 6.82887665e-02 1.01846410e-02 9.97613611e-01 9.99970770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442557844 meters Centerline goodness : 0.148530 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.02, Z:1.00 [[ 9.97700234e-01 1.04050365e-03 -6.77728595e-02 -9.91711578e+00] [-1.77994774e-03 9.99939540e-01 -1.08511510e-02 -1.73448271e-02] [ 6.77574713e-02 1.09468281e-02 9.97641765e-01 1.00087682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502557844 meters Centerline goodness : 0.157817 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.01, Z:1.00 [[ 9.97703203e-01 7.17217053e-04 -6.77333389e-02 -9.91767012e+00] [-1.49750183e-03 9.99933097e-01 -1.14698804e-02 -1.45287911e-02] [ 6.77205810e-02 1.15449673e-02 9.97637528e-01 1.00151941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562557844 meters Centerline goodness : 0.152540 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.01, Z:1.00 [[ 9.97727012e-01 2.58070399e-04 -6.73850409e-02 -9.91840016e+00] [-1.10772144e-03 9.99920358e-01 -1.25718371e-02 -8.79134039e-03] [ 6.73764298e-02 1.26179054e-02 9.97647836e-01 1.00113223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622557844 meters Centerline goodness : 0.150882 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.00, Z:1.00 [[ 9.97692804e-01 -1.81496356e-04 -6.78898849e-02 -9.91637355e+00] [-7.46221838e-04 9.99906700e-01 -1.36394336e-02 -3.70895369e-03] [ 6.78860263e-02 1.36586257e-02 9.97599584e-01 9.99968038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68255784400003 meters Centerline goodness : 0.151810 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.00, Z:1.00 [[ 9.97682031e-01 -7.81438004e-04 -6.80437641e-02 -9.91622864e+00] [-2.35160186e-04 9.99888498e-01 -1.49310665e-02 2.66990402e-03] [ 6.80478448e-02 1.49124579e-02 9.97570604e-01 1.00015656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74255784400003 meters Centerline goodness : 0.150586 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.00, Z:1.00 [[ 9.97698212e-01 -9.89091350e-04 -6.78033946e-02 -9.91737941e+00] [-3.67480693e-05 9.99885584e-01 -1.51267008e-02 3.31842640e-03] [ 6.78105985e-02 1.50943740e-02 9.97584023e-01 1.00097220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80255784400003 meters Centerline goodness : 0.393327 with order 1 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.00, Z:1.00 [[ 9.97699660e-01 -1.22102710e-03 -6.77782926e-02 -9.91741551e+00] [ 1.92692765e-04 9.99884812e-01 -1.51764953e-02 2.91663642e-03] [ 6.77890162e-02 1.51285239e-02 9.97584972e-01 1.00100730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86255784400004 meters Centerline goodness : 0.150360 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.00, Z:1.00 [[ 9.97710323e-01 -1.23447330e-03 -6.76209079e-02 -9.91810592e+00] [ 2.24516765e-04 9.99888350e-01 -1.49411300e-02 1.36761003e-03] [ 6.76318024e-02 1.48917376e-02 9.97599206e-01 1.00149667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92255784400004 meters Centerline goodness : 0.112406 with order 2 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.00, Z:1.00 [[ 9.97776237e-01 -1.30615877e-03 -6.66398910e-02 -9.92095257e+00] [ 3.59227412e-04 9.99898831e-01 -1.42196818e-02 -2.89659617e-03] [ 6.66517223e-02 1.41641218e-02 9.97675762e-01 1.00211826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98255784400004 meters Centerline goodness : 0.114892 with order 2 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.01, Z:1.00 [[ 9.97721626e-01 -1.36731637e-03 -6.74513701e-02 -9.91840618e+00] [ 4.42262177e-04 9.99905677e-01 -1.37274138e-02 -6.37543280e-03] [ 6.74637776e-02 1.36663064e-02 9.97628122e-01 1.00161936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.042557844 meters Centerline goodness : 0.146469 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.01, Z:1.00 [[ 9.97666278e-01 -1.08765118e-03 -6.82701655e-02 -9.91547490e+00] [ 2.02468407e-04 9.99915847e-01 -1.29714604e-02 -1.03273824e-02] [ 6.82785288e-02 1.29273660e-02 9.97582541e-01 1.00049525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.102557844 meters Centerline goodness : 0.146307 with order 3 Centerline is valid? [False, False] Translation: X:-9.94, Y:-0.02, Z:1.00 [[ 9.97747910e-01 4.53682837e-03 -6.69217782e-02 -9.94007152e+00] [-5.57920932e-03 9.99865887e-01 -1.53974468e-02 -1.90466475e-02] [ 6.68429476e-02 1.57361410e-02 9.97639411e-01 9.99793206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.162557844 meters Centerline goodness : 0.153745 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.02, Z:1.00 [[ 9.97700529e-01 -1.86772170e-03 -6.77507694e-02 -9.92251446e+00] [ 9.42498899e-04 9.99905903e-01 -1.36856645e-02 -1.51410365e-02] [ 6.77699552e-02 1.35903397e-02 9.97608408e-01 1.00280548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.222557844 meters Centerline goodness : 0.148132 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.01, Z:1.00 [[ 9.97643651e-01 -1.25676185e-03 -6.85971357e-02 -9.91983556e+00] [ 3.05323783e-04 9.99903640e-01 -1.38786613e-02 -1.20589792e-02] [ 6.86079679e-02 1.38250140e-02 9.97547901e-01 1.00181055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.282557844 meters Centerline goodness : 0.145154 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.01, Z:1.00 [[ 9.97669754e-01 -1.13511470e-03 -6.82185681e-02 -9.92119584e+00] [ 1.40958514e-04 9.99893752e-01 -1.45761496e-02 -7.31630029e-03] [ 6.82278656e-02 1.45325676e-02 9.97563914e-01 1.00208923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.342557844 meters Centerline goodness : 0.162982 with order 1 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.00, Z:1.00 [[ 9.97662005e-01 -1.29278400e-03 -6.83290064e-02 -9.92091184e+00] [ 2.59065544e-04 9.99885422e-01 -1.51352416e-02 -4.21331695e-03] [ 6.83407440e-02 1.50821538e-02 9.97548030e-01 1.00195873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.402557844 meters Centerline goodness : 0.396671 with order 1 Centerline is valid? [False, False] Translation: X:-9.92, Y:-0.00, Z:1.00 [[ 9.97664174e-01 -1.79695004e-03 -6.82859226e-02 -9.92122458e+00] [ 7.00045424e-04 9.99870400e-01 -1.60839435e-02 -1.14350746e-04] [ 6.83059748e-02 1.59985710e-02 9.97536134e-01 1.00219904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.462557844 meters Centerline goodness : 0.146810 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.00, Z:1.00 [[ 9.97731559e-01 -2.48168153e-03 -6.72724076e-02 -9.92451590e+00] [ 1.38293258e-03 9.99864973e-01 -1.63744839e-02 3.41474827e-04] [ 6.73039602e-02 1.62443061e-02 9.97600270e-01 1.00337326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.522557844 meters Centerline goodness : 0.148507 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.00, Z:1.00 [[ 9.97721386e-01 -2.72703893e-03 -6.74136480e-02 -9.92414051e+00] [ 1.60021469e-03 9.99858203e-01 -1.67634279e-02 1.90329067e-03] [ 6.74498034e-02 1.66173542e-02 9.97584276e-01 1.00342467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.582557844 meters Centerline goodness : 0.233604 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.01, Z:1.00 [[ 9.97682332e-01 8.48874745e-04 -6.80385470e-02 -9.92197890e+00] [-1.82349998e-03 9.99896604e-01 -1.42637781e-02 8.47216533e-03] [ 6.80194039e-02 1.43547876e-02 9.97580724e-01 1.00255870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.642557844 meters Centerline goodness : 0.166750 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.01, Z:1.00 [[ 9.97672559e-01 4.75162929e-03 -6.80212206e-02 -9.92196548e+00] [-5.52289538e-03 9.99922528e-01 -1.11550483e-02 1.25859585e-02] [ 6.79629462e-02 1.15047597e-02 9.97621511e-01 1.00252248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.702557844 meters Centerline goodness : 0.161690 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.02, Z:1.00 [[ 9.97754396e-01 4.62184833e-03 -6.68191895e-02 -9.92579591e+00] [-5.44252721e-03 9.99911917e-01 -1.21052683e-02 1.94009511e-02] [ 6.67573551e-02 1.24417500e-02 9.97691665e-01 1.00329143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.762557844 meters Centerline goodness : 0.319524 with order 2 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.02, Z:1.00 [[ 9.97735971e-01 4.20139909e-03 -6.71213850e-02 -9.92463807e+00] [-5.09553675e-03 9.99900478e-01 -1.31555591e-02 2.47928323e-02] [ 6.70594332e-02 1.34677940e-02 9.97658083e-01 1.00263966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.822557844 meters Centerline goodness : 0.218322 with order 3 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.03, Z:1.00 [[ 9.97762901e-01 3.71204656e-03 -6.67488927e-02 -9.92654034e+00] [-4.63245737e-03 9.99896245e-01 -1.36396673e-02 2.66198844e-02] [ 6.66913360e-02 1.39183654e-02 9.97676573e-01 1.00407219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.882557844 meters Centerline goodness : 0.165149 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:0.03, Z:1.00 [[ 9.97767856e-01 3.31855147e-03 -6.66955295e-02 -9.92701989e+00] [-4.23634409e-03 9.99898212e-01 -1.36242156e-02 2.55768509e-02] [ 6.66435280e-02 1.38763496e-02 9.97680353e-01 1.00471671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942557844 meters Centerline goodness : 0.149246 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.02, Z:1.00 [[ 9.97693724e-01 2.65364173e-03 -6.78247164e-02 -9.92315147e+00] [-3.60186129e-03 9.99897431e-01 -1.38619799e-02 2.45832795e-02] [ 6.77809749e-02 1.40743056e-02 9.97600949e-01 1.00345551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002557844 meters Centerline goodness : 0.149579 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.03, Z:1.00 [[ 9.97708285e-01 2.55341306e-03 -6.76140368e-02 -9.92386373e+00] [-3.52171027e-03 9.99892893e-01 -1.42056292e-02 2.64246610e-02] [ 6.75705220e-02 1.44111910e-02 9.97610416e-01 1.00369725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062557844 meters Centerline goodness : 0.170720 with order 1 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.03, Z:1.00 [[ 9.97703159e-01 3.29567575e-03 -6.76575531e-02 -9.92362880e+00] [-4.27110040e-03 9.99888949e-01 -1.42774984e-02 3.27427099e-02] [ 6.76029857e-02 1.45336775e-02 9.97606440e-01 1.00337754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122557844 meters Centerline goodness : 0.150361 with order 3 Centerline is valid? [False, False] Translation: X:-9.92, Y:0.04, Z:1.00 [[ 9.97652092e-01 3.52284963e-03 -6.83951252e-02 -9.92126181e+00] [-4.54046849e-03 9.99881217e-01 -1.47287795e-02 3.64118607e-02] [ 6.83351137e-02 1.50047436e-02 9.97549583e-01 1.00252106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18255784400003 meters Centerline goodness : 0.098092 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:0.04, Z:1.00 [[ 9.97584809e-01 -5.68753947e-03 -6.92257279e-02 -9.94370724e+00] [ 4.69667594e-03 9.99884304e-01 -1.44678707e-02 4.00210292e-02] [ 6.93000054e-02 1.41077972e-02 9.97496105e-01 1.00115982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24255784400003 meters Centerline goodness : 0.298568 with order 2 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.04, Z:1.00 [[ 9.97610506e-01 -6.69318730e-03 -6.87639389e-02 -9.94550103e+00] [ 5.69990652e-03 9.99876717e-01 -1.46308593e-02 3.65775705e-02] [ 6.88533886e-02 1.42039510e-02 9.97525668e-01 1.00214296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30255784400003 meters Centerline goodness : 0.190190 with order 3 Centerline is valid? [False, False] Translation: X:-9.94, Y:0.03, Z:1.00 [[ 9.97555743e-01 -6.64649417e-03 -6.95583534e-02 -9.94307509e+00] [ 5.68866721e-03 9.99886384e-01 -1.39591627e-02 3.26164797e-02] [ 6.96432300e-02 1.35293486e-02 9.97480214e-01 1.00169972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36255784400004 meters Centerline goodness : 0.229850 with order 3 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.03, Z:1.00 [[ 9.97605728e-01 -6.43719854e-03 -6.88576320e-02 -9.94565381e+00] [ 5.53705857e-03 9.99896813e-01 -1.32553638e-02 2.88532893e-02] [ 6.89358542e-02 1.28423581e-02 9.97538431e-01 1.00296022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42255784400004 meters Centerline goodness : 0.173066 with order 1 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.03, Z:1.00 [[ 9.97632932e-01 -6.28965507e-03 -6.84760790e-02 -9.94709340e+00] [ 5.40477559e-03 9.99899583e-01 -1.31000691e-02 2.84435669e-02] [ 6.85515977e-02 1.26989625e-02 9.97566747e-01 1.00366732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48255784400004 meters Centerline goodness : 0.144410 with order 3 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.03, Z:1.00 [[ 9.97622179e-01 -2.15003801e-03 -6.88866064e-02 -9.94542085e+00] [ 1.50878307e-03 9.99955060e-01 -9.35952533e-03 2.92615254e-02] [ 6.89036340e-02 9.23333511e-03 9.97580591e-01 1.00277233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.542557844 meters Centerline goodness : 0.149717 with order 3 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.03, Z:1.00 [[ 9.97643747e-01 -2.41336624e-03 -6.85647880e-02 -9.94640909e+00] [ 1.72873020e-03 9.99948075e-01 -1.00428234e-02 3.24926200e-02] [ 6.85854648e-02 9.90062995e-03 9.97596116e-01 1.00289706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.602557844 meters Centerline goodness : 0.095524 with order 2 Centerline is valid? [False, False] Translation: X:-9.95, Y:0.03, Z:1.00 [[ 9.97669863e-01 -2.42524391e-03 -6.81833031e-02 -9.94798053e+00] [ 1.74686919e-03 9.99948401e-01 -1.00071423e-02 3.24796096e-02] [ 6.82040547e-02 9.86471701e-03 9.97622621e-01 1.00376069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.662557844 meters Centerline goodness : 0.153641 with order 3 Centerline is valid? [False, False] Translation: X:-9.94, Y:0.03, Z:1.00 [[ 9.97590009e-01 -3.22111607e-03 -6.93094375e-02 -9.94431376e+00] [ 2.51425212e-03 9.99943963e-01 -1.02834880e-02 3.07451736e-02] [ 6.93386779e-02 1.00844435e-02 9.97542205e-01 1.00283048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.722557844 meters Centerline goodness : 0.367784 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:0.03, Z:1.00 [[ 9.97544380e-01 -3.03927970e-03 -6.99712283e-02 -9.94222332e+00] [ 2.36452179e-03 9.99949924e-01 -9.72416943e-03 2.79989061e-02] [ 6.99972788e-02 9.53484207e-03 9.97501613e-01 1.00237751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.782557844 meters Centerline goodness : 0.163685 with order 2 Centerline is valid? [False, False] Translation: X:-9.94, Y:0.03, Z:1.00 [[ 9.97508977e-01 -3.01717774e-03 -7.04750848e-02 -9.94044575e+00] [ 2.32052890e-03 9.99947657e-01 -9.96481815e-03 2.91502550e-02] [ 7.05014616e-02 9.77645609e-03 9.97463766e-01 1.00162511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.842557844 meters Centerline goodness : 0.243004 with order 3 Centerline is valid? [False, False] Translation: X:-9.96, Y:0.03, Z:1.00 [[ 9.97405261e-01 7.64489093e-03 -7.15842246e-02 -9.96264156e+00] [-8.35883515e-03 9.99918218e-01 -9.67923370e-03 3.01926889e-02] [ 7.15043736e-02 1.02524793e-02 9.97387593e-01 1.00029649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.902557844 meters Centerline goodness : 0.153467 with order 3 Centerline is valid? [False, False] Translation: X:-9.96, Y:0.04, Z:1.00 [[ 9.97336794e-01 1.17123803e-02 -7.19870819e-02 -9.96106632e+00] [-1.22209693e-02 9.99903350e-01 -6.62860656e-03 3.50727732e-02] [ 7.19024876e-02 7.49070513e-03 9.97383538e-01 9.99585565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.962557844 meters Centerline goodness : 0.150966 with order 3 Centerline is valid? [False, False] Translation: X:-9.96, Y:0.04, Z:1.00 [[ 9.97324981e-01 1.47062622e-02 -7.16003351e-02 -9.96392018e+00] [-1.51012867e-02 9.99873573e-01 -4.97885283e-03 4.43049691e-02] [ 7.15180625e-02 6.04679149e-03 9.97420976e-01 1.00142857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.022557844 meters Centerline goodness : 0.163984 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.05, Z:1.00 [[ 9.97676552e-01 7.16619938e-03 -6.77505953e-02 -9.98883310e+00] [-7.51985898e-03 9.99959392e-01 -4.96643015e-03 5.40981744e-02] [ 6.77122536e-02 5.46436583e-03 9.97689927e-01 9.99781945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.082557844 meters Centerline goodness : 0.168131 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.06, Z:1.00 [[ 9.97665150e-01 6.46635594e-03 -6.79884840e-02 -9.98830547e+00] [-6.89528437e-03 9.99957767e-01 -6.07605944e-03 5.89998164e-02] [ 6.79463227e-02 6.53067269e-03 9.97667604e-01 9.99811051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.142557844 meters Centerline goodness : 0.295137 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.07, Z:1.00 [[ 9.97664333e-01 -1.86747809e-03 -6.82817005e-02 -9.96963663e+00] [ 1.47679529e-03 9.99982253e-01 -5.77166283e-03 7.09446118e-02] [ 6.82912671e-02 5.65734405e-03 9.97649386e-01 1.00363891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.202557844 meters Centerline goodness : 0.166529 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.08, Z:1.00 [[ 9.97658911e-01 -2.32696902e-03 -6.83467824e-02 -9.96946674e+00] [ 1.87175735e-03 9.99975645e-01 -6.72360766e-03 7.54528967e-02] [ 6.83607634e-02 6.57993850e-03 9.97638968e-01 1.00356492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.262557844 meters Centerline goodness : 0.152924 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.08, Z:1.00 [[ 9.97637702e-01 -2.81186710e-03 -6.86375161e-02 -9.96829320e+00] [ 2.28068290e-03 9.99966853e-01 -7.81611398e-03 8.07310461e-02] [ 6.86572189e-02 7.64110958e-03 9.97611046e-01 1.00280504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.322557844 meters Centerline goodness : 0.152329 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:1.00 [[ 9.97638891e-01 -3.29798107e-03 -6.85985914e-02 -9.96842061e+00] [ 2.68815585e-03 9.99956064e-01 -8.98017489e-03 8.63976024e-02] [ 6.86251939e-02 8.77456801e-03 9.97603924e-01 1.00268431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.382557844 meters Centerline goodness : 0.149590 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:1.00 [[ 9.97663873e-01 -3.66930643e-03 -6.82153475e-02 -9.97010367e+00] [ 3.00572056e-03 9.99947188e-01 -9.82790306e-03 9.06245030e-02] [ 6.82478064e-02 9.59990756e-03 9.97622212e-01 1.00355404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442557844 meters Centerline goodness : 0.167605 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:1.00 [[ 9.97672902e-01 -4.14856248e-03 -6.80556435e-02 -9.97135699e+00] [ 3.43423835e-03 9.99937817e-01 -1.06098177e-02 9.40680096e-02] [ 6.80954271e-02 1.03514083e-02 9.97625111e-01 1.00476169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502557844 meters Centerline goodness : 0.159317 with order 3 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:1.00 [[ 9.97668295e-01 -4.34638009e-03 -6.81108060e-02 -9.97114534e+00] [ 3.61981160e-03 9.99935264e-01 -1.07872378e-02 9.44775023e-02] [ 6.81532822e-02 1.05155369e-02 9.97619443e-01 1.00470733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562557844 meters Centerline goodness : 0.178090 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.10, Z:1.01 [[ 9.97683196e-01 -4.50423235e-03 -6.78818975e-02 -9.97222911e+00] [ 3.74346897e-03 9.99928804e-01 -1.13302015e-02 9.73515751e-02] [ 6.79280985e-02 1.10498379e-02 9.97629027e-01 1.00539686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622557844 meters Centerline goodness : 0.172098 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.09, Z:1.00 [[ 9.97662658e-01 4.01382073e-03 -6.82137100e-02 -9.99354102e+00] [-4.87390795e-03 9.99910655e-01 -1.24469677e-02 9.39834225e-02] [ 6.81576555e-02 1.27503422e-02 9.97593085e-01 1.00367092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68255784400003 meters Centerline goodness : 0.172908 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.09, Z:1.00 [[ 9.97623639e-01 3.84386020e-03 -6.87917147e-02 -9.99173142e+00] [-4.70505660e-03 9.99912527e-01 -1.23612520e-02 9.25454529e-02] [ 6.87381824e-02 1.26555461e-02 9.97554459e-01 1.00313037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74255784400003 meters Centerline goodness : 0.112144 with order 2 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:1.01 [[ 9.97606282e-01 -5.52077054e-03 -6.89291402e-02 -9.97000625e+00] [ 4.75092927e-03 9.99924555e-01 -1.13275335e-02 9.04276398e-02] [ 6.89864766e-02 1.09729411e-02 9.97557247e-01 1.00524956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80255784400003 meters Centerline goodness : 0.171329 with order 2 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.09, Z:1.01 [[ 9.97638160e-01 -8.36747258e-03 -6.81768840e-02 -9.97381145e+00] [ 7.46760893e-03 9.99881751e-01 -1.34431416e-02 8.51998662e-02] [ 6.82813073e-02 1.29022728e-02 9.97582675e-01 1.00726845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86255784400004 meters Centerline goodness : 0.167876 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.08, Z:1.01 [[ 9.97612427e-01 -7.98658779e-03 -6.85978179e-02 -9.97241317e+00] [ 7.13273645e-03 9.99894125e-01 -1.26831396e-02 8.20793155e-02] [ 6.86918501e-02 1.21635675e-02 9.97563771e-01 1.00681490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92255784400004 meters Centerline goodness : 0.135775 with order 2 Centerline is valid? [False, False] Translation: X:-9.97, Y:0.08, Z:1.01 [[ 9.97620343e-01 -7.91842724e-03 -6.84905033e-02 -9.97270994e+00] [ 7.06292869e-03 9.99894103e-01 -1.27239153e-02 8.26461914e-02] [ 6.85840037e-02 1.22098932e-02 9.97570626e-01 1.00681254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98255784400004 meters Centerline goodness : 0.154222 with order 2 Centerline is valid? [False, False] Translation: X:-9.98, Y:0.08, Z:1.01 [[ 9.97699541e-01 -9.06850917e-03 -6.71817604e-02 -9.97784036e+00] [ 8.17664943e-03 9.99874919e-01 -1.35384290e-02 8.19311525e-02] [ 6.72961306e-02 1.29579627e-02 9.97648897e-01 1.00882791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.042557844 meters Centerline goodness : 0.277822 with order 1 Centerline is valid? [False, False] Translation: X:-9.98, Y:0.08, Z:1.01 [[ 9.97657846e-01 -8.98988514e-03 -6.78085868e-02 -9.97564247e+00] [ 8.12545130e-03 9.99882310e-01 -1.30132026e-02 7.91004340e-02] [ 6.79175936e-02 1.24317483e-02 9.97613478e-01 1.00797938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.102557844 meters Centerline goodness : 0.179806 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:0.07, Z:1.01 [[ 9.97632525e-01 -4.78060361e-03 -6.86038737e-02 -9.99447545e+00] [ 3.63507468e-03 9.99852046e-01 -1.68128635e-02 6.66393335e-02] [ 6.86740991e-02 1.65236793e-02 9.97502299e-01 1.00545665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.162557844 meters Centerline goodness : 0.299881 with order 3 Centerline is valid? [False, False] Translation: X:-10.00, Y:0.06, Z:1.01 [[ 9.97660207e-01 -4.37292531e-03 -6.82274859e-02 -9.99556476e+00] [ 3.32549020e-03 9.99874986e-01 -1.54581307e-02 5.85350717e-02] [ 6.82865538e-02 1.51950720e-02 9.97550027e-01 1.00580238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.222557844 meters Centerline goodness : 0.184738 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.05, Z:1.00 [[ 9.97644068e-01 2.01284992e-03 -6.85730383e-02 -1.00178678e+01] [-3.23673830e-03 9.99837368e-01 -1.77415239e-02 4.96860102e-02] [ 6.85261751e-02 1.79216791e-02 9.97488334e-01 1.00450032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.282557844 meters Centerline goodness : 0.115352 with order 2 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 9.97659626e-01 2.81406161e-03 -6.83180190e-02 -1.00186644e+01] [-3.94344159e-03 9.99857702e-01 -1.64019874e-02 4.39168119e-02] [ 6.82621412e-02 1.66330087e-02 9.97528758e-01 1.00469673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.342557844 meters Centerline goodness : 0.184295 with order 2 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 9.97654035e-01 3.20347704e-03 -6.83824814e-02 -1.00181772e+01] [-4.28051863e-03 9.99869001e-01 -1.56095431e-02 3.98377392e-02] [ 6.83235186e-02 1.58656362e-02 9.97537056e-01 1.00424369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.402557844 meters Centerline goodness : 0.207013 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 9.97625979e-01 4.05420186e-03 -6.87456926e-02 -1.00167281e+01] [-5.07904851e-03 9.99878467e-01 -1.47395650e-02 3.69639149e-02] [ 6.86775805e-02 1.50537356e-02 9.97525325e-01 1.00336263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.462557844 meters Centerline goodness : 0.247765 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 9.97643423e-01 4.67191335e-03 -6.84527148e-02 -1.00170050e+01] [-5.67229453e-03 9.99879834e-01 -1.44271179e-02 3.68949332e-02] [ 6.83770869e-02 1.47814032e-02 9.97550041e-01 1.00255175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.522557844 meters Centerline goodness : 0.146404 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 9.97626814e-01 4.98837034e-03 -6.86720916e-02 -1.00161828e+01] [-5.97266512e-03 9.99882252e-01 -1.41354062e-02 3.56205466e-02] [ 6.85934930e-02 1.45120156e-02 9.97539139e-01 1.00205459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.582557844 meters Centerline goodness : 0.144090 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 9.97615219e-01 5.18825751e-03 -6.88255566e-02 -1.00155533e+01] [-6.16459572e-03 9.99883259e-01 -1.39808921e-02 3.55126091e-02] [ 6.87449854e-02 1.43718325e-02 9.97530740e-01 1.00166980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.642557844 meters Centerline goodness : 0.145120 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 9.97670968e-01 5.23953555e-03 -6.80087323e-02 -1.00182653e+01] [-6.20834906e-03 9.99882134e-01 -1.40418972e-02 3.61562676e-02] [ 6.79271434e-02 1.44314151e-02 9.97585905e-01 1.00254858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.702557844 meters Centerline goodness : 0.125577 with order 2 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 9.97706921e-01 5.26302408e-03 -6.74774126e-02 -1.00201122e+01] [-6.23043684e-03 9.99880693e-01 -1.41344155e-02 3.71446525e-02] [ 6.73949723e-02 1.45224179e-02 9.97620678e-01 1.00319549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.762557844 meters Centerline goodness : 0.160292 with order 1 Centerline is valid? [False, False] Translation: X:-10.06, Y:0.03, Z:1.00 [[ 9.97497651e-01 4.04911048e-03 -7.05835787e-02 -1.00638512e+01] [-5.12709142e-03 9.99872875e-01 -1.50979298e-02 3.49593738e-02] [ 7.05134725e-02 1.54220379e-02 9.97391604e-01 1.00073352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.822557844 meters Centerline goodness : 0.161852 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.04, Z:1.00 [[ 9.97497273e-01 -1.33040817e-03 -7.06924408e-02 -1.00431005e+01] [ 4.84935932e-04 9.99928171e-01 -1.19756841e-02 4.11221069e-02] [ 7.07032956e-02 1.19114309e-02 9.97426269e-01 1.00249033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.882557844 meters Centerline goodness : 0.116696 with order 2 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.05, Z:1.00 [[ 9.97490163e-01 2.48299460e-03 -7.07616396e-02 -1.00423022e+01] [-3.12786120e-03 9.99954572e-01 -9.00387519e-03 4.57158241e-02] [ 7.07360685e-02 9.20260951e-03 9.97452616e-01 1.00168295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942557844 meters Centerline goodness : 0.148550 with order 3 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.06, Z:1.00 [[ 9.97680930e-01 -3.20807905e-03 -6.79887448e-02 -1.00226989e+01] [ 2.75350767e-03 9.99973234e-01 -6.77863800e-03 5.58977062e-02] [ 6.80086714e-02 6.57571034e-03 9.97663060e-01 1.00322788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002557844 meters Centerline goodness : 0.109143 with order 2 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.06, Z:1.00 [[ 9.97717462e-01 -3.59689063e-03 -6.74309141e-02 -1.00246428e+01] [ 3.10601135e-03 9.99967920e-01 -7.38316378e-03 5.85314040e-02] [ 6.74553074e-02 7.15687024e-03 9.97696628e-01 1.00392569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062557844 meters Centerline goodness : 0.122739 with order 2 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.06, Z:1.00 [[ 9.97651623e-01 -4.07649272e-03 -6.83712066e-02 -1.00216432e+01] [ 3.53423017e-03 9.99961351e-01 -8.05024124e-03 6.13165890e-02] [ 6.84013809e-02 7.78969665e-03 9.97627471e-01 1.00301983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122557844 meters Centerline goodness : 0.114377 with order 2 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.06, Z:1.00 [[ 9.97647429e-01 -4.20549944e-03 -6.84245631e-02 -1.00215228e+01] [ 3.64592064e-03 9.99958901e-01 -8.30086765e-03 6.25162242e-02] [ 6.84566602e-02 8.03186874e-03 9.97621759e-01 1.00305776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18255784400003 meters Centerline goodness : 0.165042 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.06, Z:1.00 [[ 9.97655375e-01 -4.30008247e-03 -6.83027222e-02 -1.00221769e+01] [ 3.74670786e-03 9.99959132e-01 -8.22783456e-03 6.15559134e-02] [ 6.83353112e-02 7.95263303e-03 9.97630714e-01 1.00357479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24255784400003 meters Centerline goodness : 0.116628 with order 2 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.06, Z:1.00 [[ 9.97685367e-01 -4.28733100e-03 -6.78640357e-02 -1.00237482e+01] [ 3.76698845e-03 9.99962535e-01 -7.79354070e-03 5.92907584e-02] [ 6.78949066e-02 7.51985848e-03 9.97664139e-01 1.00433354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30255784400003 meters Centerline goodness : 0.167958 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.05, Z:1.00 [[ 9.97658512e-01 -8.22034044e-03 -6.78963935e-02 -1.00232799e+01] [ 7.50387843e-03 9.99913516e-01 -1.08005931e-02 5.45398873e-02] [ 6.79793061e-02 1.02658174e-02 9.97633914e-01 1.00405301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36255784400004 meters Centerline goodness : 0.173238 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.05, Z:1.00 [[ 9.97586927e-01 -8.74273908e-03 -6.88758838e-02 -1.00199057e+01] [ 8.04054501e-03 9.99912905e-01 -1.04657103e-02 4.90498519e-02] [ 6.89613841e-02 9.88665610e-03 9.97570339e-01 1.00305942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42255784400004 meters Centerline goodness : 0.168099 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 0.99753848 -0.01239159 -0.06901765 -10.01940144] [ 0.01152669 0.99985015 -0.01291583 0.04186874] [ 0.06916735 0.01208849 0.99753183 1.00307195] [ 0. 0. 0. 1. ]] SLAMing on 273.48255784400004 meters Centerline goodness : 0.287269 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:0.04, Z:1.00 [[ 0.99764254 -0.01260784 -0.06745663 -10.02418353] [ 0.01180675 0.99985512 -0.01226117 0.03733873] [ 0.06760144 0.01143582 0.99764686 1.00449128] [ 0. 0. 0. 1. ]] SLAMing on 273.542557844 meters Centerline goodness : 0.172771 with order 1 Centerline is valid? [False, False] Translation: X:-10.03, Y:0.03, Z:1.00 [[ 0.9976816 -0.01252465 -0.06689212 -10.02557502] [ 0.01178191 0.99986461 -0.01148662 0.03297568] [ 0.06702693 0.01067187 0.99769409 1.00455917] [ 0. 0. 0. 1. ]] SLAMing on 273.602557844 meters Centerline goodness : 0.171217 with order 1 Centerline is valid? [False, False] Translation: X:-10.03, Y:0.03, Z:1.00 [[ 0.99768494 -0.01245445 -0.06685546 -10.02549119] [ 0.01172661 0.99986775 -0.01126819 0.03173859] [ 0.06698695 0.01045812 0.99769904 1.00429385] [ 0. 0. 0. 1. ]] SLAMing on 273.662557844 meters Centerline goodness : 0.167220 with order 1 Centerline is valid? [False, False] Translation: X:-10.05, Y:0.02, Z:1.00 [[ 9.97863476e-01 -7.61418693e-03 -6.48884290e-02 -1.00486928e+01] [ 6.72152335e-03 9.99879905e-01 -1.39641207e-02 2.30018792e-02] [ 6.49869616e-02 1.34981369e-02 9.97794816e-01 1.00311274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.722557844 meters Centerline goodness : 0.170292 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.02, Z:1.00 [[ 9.97773241e-01 -1.06757030e-02 -6.58375912e-02 -1.00436567e+01] [ 9.64841831e-03 9.99827009e-01 -1.59015933e-02 1.58046640e-02] [ 6.59959625e-02 1.52309557e-02 9.97703639e-01 1.00023822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.782557844 meters Centerline goodness : 0.187601 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.01, Z:1.00 [[ 9.97797207e-01 -1.05951023e-02 -6.54864738e-02 -1.00444888e+01] [ 9.63008767e-03 9.99840604e-01 -1.50342330e-02 1.08523524e-02] [ 6.56353248e-02 1.43704752e-02 9.97740193e-01 1.00020487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.842557844 meters Centerline goodness : 0.184443 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:0.01, Z:1.00 [[ 9.97722563e-01 -1.45358902e-02 -6.58664875e-02 -1.00433130e+01] [ 1.33650195e-02 9.99745357e-01 -1.81823464e-02 6.27758823e-03] [ 6.61140117e-02 1.72606303e-02 9.97662773e-01 1.00005184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.902557844 meters Centerline goodness : 0.187667 with order 1 Centerline is valid? [False, False] Translation: X:-10.06, Y:-0.00, Z:1.00 [[ 9.97846509e-01 -6.59749769e-03 -6.52596178e-02 -1.00630262e+01] [ 5.41037992e-03 9.99816973e-01 -1.83507273e-02 -4.04604890e-03] [ 6.53687424e-02 1.79581298e-02 9.97699571e-01 9.97288678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.962557844 meters Centerline goodness : 0.155491 with order 3 Centerline is valid? [False, False] Translation: X:-10.06, Y:-0.01, Z:1.00 [[ 9.97876862e-01 -6.65251675e-03 -6.47882068e-02 -1.00644716e+01] [ 5.53285741e-03 9.99832499e-01 -1.74459537e-02 -1.10108662e-02] [ 6.48934142e-02 1.70504496e-02 9.97746524e-01 9.97562878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.022557844 meters Centerline goodness : 0.164823 with order 1 Centerline is valid? [False, False] Translation: X:-10.11, Y:-0.02, Z:0.99 [[ 9.97620710e-01 -8.52836594e-03 -6.84118851e-02 -1.01051398e+01] [ 7.28346506e-03 9.99803698e-01 -1.84259829e-02 -1.81223420e-02] [ 6.85555993e-02 1.78838666e-02 9.97486991e-01 9.94454209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.082557844 meters Centerline goodness : 0.111765 with order 2 Centerline is valid? [False, False] Translation: X:-10.06, Y:-0.03, Z:1.00 [[ 9.97712362e-01 -9.66954097e-03 -6.69069774e-02 -1.00646981e+01] [ 8.53390403e-03 9.99814988e-01 -1.72384178e-02 -2.61703136e-02] [ 6.70612864e-02 1.66280048e-02 9.97610291e-01 9.97231697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.142557844 meters Centerline goodness : 0.121236 with order 3 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.03, Z:1.00 [[ 9.97743576e-01 -9.50565740e-03 -6.64635238e-02 -1.00659308e+01] [ 8.41798195e-03 9.99826343e-01 -1.66259506e-02 -2.91081577e-02] [ 6.66100225e-02 1.60289467e-02 9.97650328e-01 9.97252625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.202557844 meters Centerline goodness : 0.167397 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.03, Z:1.00 [[ 9.97725542e-01 -9.47649732e-03 -6.67378405e-02 -1.00652146e+01] [ 8.38507819e-03 9.99826801e-01 -1.66150015e-02 -2.91764243e-02] [ 6.68837336e-02 1.60176094e-02 9.97632198e-01 9.97297953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.262557844 meters Centerline goodness : 0.167922 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.03, Z:1.00 [[ 9.97751267e-01 -5.59677943e-03 -6.67913567e-02 -1.00653953e+01] [ 4.73487224e-03 9.99903559e-01 -1.30558045e-02 -2.79832130e-02] [ 6.68579857e-02 1.27101969e-02 9.97681543e-01 9.97591380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.322557844 meters Centerline goodness : 0.130080 with order 2 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.02, Z:1.00 [[ 9.97838570e-01 -3.44213977e-03 -6.56227137e-02 -1.00700630e+01] [ 2.69367410e-03 9.99930352e-01 -1.14906574e-02 -2.23918703e-02] [ 6.56576956e-02 1.12890550e-02 9.97778344e-01 9.99281153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.382557844 meters Centerline goodness : 0.197157 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.02, Z:1.00 [[ 9.97795906e-01 -3.67760616e-03 -6.62556121e-02 -1.00671772e+01] [ 2.87454089e-03 9.99921299e-01 -1.22119708e-02 -1.82805220e-02] [ 6.62953086e-02 1.19946000e-02 9.97727950e-01 9.97351187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442557844 meters Centerline goodness : 0.262286 with order 1 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.01, Z:1.00 [[ 9.97871358e-01 -1.18820438e-02 -6.41215220e-02 -1.00494536e+01] [ 1.11662663e-02 9.99871413e-01 -1.15096863e-02 -7.71931603e-03] [ 6.42500354e-02 1.07691883e-02 9.97875722e-01 9.99931291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502557844 meters Centerline goodness : 0.213832 with order 1 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.01, Z:1.00 [[ 9.97879019e-01 -1.20925035e-02 -6.39627571e-02 -1.00502076e+01] [ 1.13590133e-02 9.99865636e-01 -1.18187162e-02 -6.43832291e-03] [ 6.40970807e-02 1.10670951e-02 9.97882299e-01 1.00038134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562557844 meters Centerline goodness : 0.293472 with order 1 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.01, Z:1.00 [[ 9.97816685e-01 -1.24202960e-02 -6.48660049e-02 -1.00475307e+01] [ 1.16614462e-02 9.99859222e-01 -1.20642839e-02 -6.27859005e-03] [ 6.50067152e-02 1.12815124e-02 9.97821053e-01 9.99711085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622557844 meters Centerline goodness : 0.192952 with order 1 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.01, Z:1.00 [[ 9.97882350e-01 -1.25286376e-02 -6.38267094e-02 -1.00511615e+01] [ 1.17976490e-02 9.99860580e-01 -1.18167640e-02 -7.84988892e-03] [ 6.39658587e-02 1.10387351e-02 9.97891034e-01 1.00107668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68255784400003 meters Centerline goodness : 0.128350 with order 2 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.01, Z:1.00 [[ 9.97858274e-01 -1.24816422e-02 -6.42111701e-02 -1.00503227e+01] [ 1.17447569e-02 9.99860920e-01 -1.18406719e-02 -7.80419603e-03] [ 6.43500307e-02 1.10611678e-02 9.97866085e-01 1.00144615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74255784400003 meters Centerline goodness : 0.119670 with order 2 Centerline is valid? [False, False] Translation: X:-10.05, Y:-0.00, Z:1.00 [[ 9.97845189e-01 -8.20576962e-03 -6.50971936e-02 -1.00475468e+01] [ 7.65810718e-03 9.99933193e-01 -8.65806941e-03 -3.77087901e-03] [ 6.51638908e-02 8.14089162e-03 9.97841367e-01 1.00099427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80255784400003 meters Centerline goodness : 0.161220 with order 1 Centerline is valid? [False, False] Translation: X:-10.03, Y:-0.01, Z:1.00 [[ 9.98001733e-01 1.75951971e-03 -6.31620483e-02 -1.00289310e+01] [-2.32059864e-03 9.99958491e-01 -8.81090480e-03 -5.14730740e-03] [ 6.31439235e-02 8.93987202e-03 9.97964390e-01 1.00328642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86255784400004 meters Centerline goodness : 0.296064 with order 2 Centerline is valid? [False, False] Translation: X:-10.03, Y:-0.00, Z:1.00 [[ 9.98060778e-01 2.06927067e-03 -6.22125578e-02 -1.00319779e+01] [-2.62246184e-03 9.99957738e-01 -8.81161468e-03 -4.59067897e-03] [ 6.21916949e-02 8.95767706e-03 9.98024024e-01 1.00426094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92255784400004 meters Centerline goodness : 0.173995 with order 1 Centerline is valid? [False, False] Translation: X:-10.03, Y:-0.01, Z:1.00 [[ 9.98093859e-01 2.40977202e-03 -6.16671893e-02 -1.00337303e+01] [-2.94708252e-03 9.99958473e-01 -8.62359740e-03 -5.11281982e-03] [ 6.16438475e-02 8.78889790e-03 9.98059513e-01 1.00478040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98255784400004 meters Centerline goodness : 0.109934 with order 2 Centerline is valid? [False, False] Translation: X:-10.03, Y:-0.01, Z:1.00 [[ 9.98076475e-01 2.54944046e-03 -6.19423218e-02 -1.00327014e+01] [-3.07864506e-03 9.99959563e-01 -8.44956759e-03 -5.81534670e-03] [ 6.19182753e-02 8.62401306e-03 9.98043964e-01 1.00425931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.042557844 meters Centerline goodness : 0.179184 with order 1 Centerline is valid? [False, False] Translation: X:-10.03, Y:-0.01, Z:1.00 [[ 9.98062119e-01 2.89104826e-03 -6.21582507e-02 -1.00320611e+01] [-3.39983405e-03 9.99961568e-01 -8.08112232e-03 -7.10867395e-03] [ 6.21324989e-02 8.27678980e-03 9.98033590e-01 1.00410668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.102557844 meters Centerline goodness : 0.169088 with order 1 Centerline is valid? [False, False] Translation: X:-10.03, Y:-0.01, Z:1.00 [[ 9.98059634e-01 2.93312796e-03 -6.21961785e-02 -1.00319121e+01] [-3.43556514e-03 9.99962314e-01 -7.97286049e-03 -7.83971587e-03] [ 6.21704492e-02 8.17106924e-03 9.98032098e-01 1.00401529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.162557844 meters Centerline goodness : 0.164972 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.01, Z:1.00 [[ 9.97887393e-01 3.50932504e-03 -6.48724507e-02 -1.00771916e+01] [-3.95517252e-03 9.99969427e-01 -6.74552986e-03 -1.35067334e-02] [ 6.48467951e-02 6.98786094e-03 9.97870765e-01 1.00273393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.222557844 meters Centerline goodness : 0.401066 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.02, Z:1.00 [[ 9.97818174e-01 1.14570589e-03 -6.60119562e-02 -1.00721107e+01] [-1.72111755e-03 9.99961015e-01 -8.66056978e-03 -1.81771619e-02] [ 6.59994603e-02 8.75528826e-03 9.97781247e-01 1.00048963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.282557844 meters Centerline goodness : 0.396772 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.02, Z:1.00 [[ 9.97767670e-01 1.31068624e-03 -6.67679449e-02 -1.00700679e+01] [-1.83401311e-03 9.99968074e-01 -7.77730372e-03 -2.33775855e-02] [ 6.67556197e-02 7.88239550e-03 9.97738220e-01 1.00027814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.342557844 meters Centerline goodness : 0.392125 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:-0.03, Z:1.00 [[ 9.97797198e-01 -1.98778857e-03 -6.63083778e-02 -1.00719878e+01] [ 1.33072906e-03 9.99949594e-01 -9.95184422e-03 -3.10141988e-02] [ 6.63248176e-02 9.84168378e-03 9.97749548e-01 1.00123432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.402557844 meters Centerline goodness : 0.135987 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.04, Z:1.00 [[ 9.97842408e-01 -4.13214999e-03 -6.55244481e-02 -1.00760498e+01] [ 3.39844084e-03 9.99930321e-01 -1.13049968e-02 -3.82442722e-02] [ 6.55665964e-02 1.10579243e-02 9.97786923e-01 1.00326042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.462557844 meters Centerline goodness : 0.151141 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.05, Z:1.00 [[ 9.97849350e-01 -3.13479204e-03 -6.54740248e-02 -1.00756100e+01] [ 2.51703016e-03 9.99951558e-01 -9.51557929e-03 -4.67828903e-02] [ 6.55006825e-02 9.33031451e-03 9.97808902e-01 1.00254691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.522557844 meters Centerline goodness : 0.132845 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.05, Z:1.00 [[ 9.97847837e-01 -2.45711735e-03 -6.55260038e-02 -1.00755973e+01] [ 1.90573994e-03 9.99962264e-01 -8.47581298e-03 -5.11744439e-02] [ 6.55443572e-02 8.33269612e-03 9.97814864e-01 1.00274361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.582557844 meters Centerline goodness : 0.145341 with order 2 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.06, Z:1.00 [[ 9.97927593e-01 -1.25523478e-04 -6.43467451e-02 -1.00800046e+01] [-2.69981491e-04 9.99981127e-01 -6.13773218e-03 -5.67966850e-02] [ 6.43463012e-02 6.14238473e-03 9.97908726e-01 1.00419665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.642557844 meters Centerline goodness : 0.131854 with order 3 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.07, Z:1.00 [[ 9.97924752e-01 8.26355800e-03 -6.38584606e-02 -1.01015383e+01] [-8.69834396e-03 9.99940824e-01 -6.53357031e-03 -6.59562490e-02] [ 6.38006911e-02 7.07547438e-03 9.97937578e-01 1.00173558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.702557844 meters Centerline goodness : 0.129165 with order 3 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.07, Z:1.00 [[ 9.97889000e-01 8.80638803e-03 -6.43427614e-02 -1.00999275e+01] [-9.20173009e-03 9.99940548e-01 -5.85055354e-03 -6.86018331e-02] [ 6.42874139e-02 6.43026775e-03 9.97910707e-01 1.00105966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.762557844 meters Centerline goodness : 0.130623 with order 3 Centerline is valid? [False, False] Translation: X:-10.10, Y:-0.07, Z:1.00 [[ 9.97833504e-01 9.14965113e-03 -6.51504590e-02 -1.00967884e+01] [-9.50963159e-03 9.99941171e-01 -5.21740224e-03 -7.23339647e-02] [ 6.50988888e-02 5.82565562e-03 9.97861812e-01 9.99557845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.822557844 meters Centerline goodness : 0.233000 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.07, Z:1.00 [[ 9.97931179e-01 1.48239045e-03 -6.42741372e-02 -1.00769003e+01] [-1.74238339e-03 9.99990525e-01 -3.98919882e-03 -7.07039876e-02] [ 6.42676147e-02 4.09293607e-03 9.97924307e-01 1.00161796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.882557844 meters Centerline goodness : 0.130002 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.07, Z:1.00 [[ 9.97949021e-01 -2.58847182e-03 -6.39613242e-02 -1.00778220e+01] [ 2.12140921e-03 9.99970598e-01 -7.36910114e-03 -7.41818080e-02] [ 6.39785183e-02 7.21829913e-03 9.97925170e-01 1.00184050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942557844 meters Centerline goodness : 0.128271 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.08, Z:1.00 [[ 9.97981146e-01 -2.61939453e-03 -6.34568474e-02 -1.00794145e+01] [ 2.20234631e-03 9.99975522e-01 -6.64121121e-03 -7.84197387e-02] [ 6.34726900e-02 6.48804962e-03 9.97962486e-01 1.00244625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002557844 meters Centerline goodness : 0.127323 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.08, Z:1.00 [[ 9.98012212e-01 -2.57371235e-03 -6.29682529e-02 -1.00810474e+01] [ 2.21622171e-03 9.99981033e-01 -5.74650215e-03 -8.32514915e-02] [ 6.29818484e-02 5.59552771e-03 9.97998986e-01 1.00319331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062557844 meters Centerline goodness : 0.128202 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.09, Z:1.00 [[ 9.97947966e-01 -5.83916491e-03 -6.37633162e-02 -1.00770717e+01] [ 5.33407457e-03 9.99953059e-01 -8.08869395e-03 -8.97709788e-02] [ 6.38075543e-02 7.73197740e-03 9.97932269e-01 1.00098106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122557844 meters Centerline goodness : 0.128173 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.09, Z:1.00 [[ 9.97938170e-01 -5.47652777e-03 -6.39485475e-02 -1.00761487e+01] [ 5.02032102e-03 9.99960807e-01 -7.29247473e-03 -9.35848097e-02] [ 6.39859786e-02 6.95639665e-03 9.97926552e-01 1.00036036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18255784400003 meters Centerline goodness : 0.126612 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.10, Z:1.00 [[ 9.97935293e-01 -5.07678859e-03 -6.40263727e-02 -1.00764375e+01] [ 4.66185257e-03 9.99967165e-01 -6.62843551e-03 -9.68994087e-02] [ 6.40579215e-02 6.31626823e-03 9.97926193e-01 1.00112458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24255784400003 meters Centerline goodness : 0.123885 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.10, Z:1.00 [[ 9.97979366e-01 -4.24032858e-03 -6.33971938e-02 -1.00779554e+01] [ 3.87066787e-03 9.99974792e-01 -5.95255097e-03 -9.78897239e-02] [ 6.34208365e-02 5.69513357e-03 9.97970622e-01 1.00090078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30255784400003 meters Centerline goodness : 0.124510 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.10, Z:1.00 [[ 9.98084574e-01 -3.52010642e-03 -6.17640050e-02 -1.00828257e+01] [ 3.19902494e-03 9.99980856e-01 -5.29663815e-03 -9.95908919e-02] [ 6.17814673e-02 5.08890824e-03 9.98076727e-01 1.00191739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36255784400004 meters Centerline goodness : 0.194704 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.10, Z:1.00 [[ 9.98095716e-01 -3.42090029e-03 -6.15892720e-02 -1.00833892e+01] [ 3.10461879e-03 9.99981502e-01 -5.23029897e-03 -9.97403188e-02] [ 6.16060251e-02 5.02912779e-03 9.98087875e-01 1.00207450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42255784400004 meters Centerline goodness : 0.137140 with order 2 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.10, Z:1.00 [[ 9.98086908e-01 -3.30913206e-03 -6.17379366e-02 -1.00828978e+01] [ 2.98835204e-03 9.99981556e-01 -5.28744549e-03 -9.88444603e-02] [ 6.17542947e-02 5.09283544e-03 9.98078389e-01 1.00178846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48255784400004 meters Centerline goodness : 0.117491 with order 2 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.10, Z:1.00 [[ 9.98093731e-01 -3.29076842e-03 -6.16285291e-02 -1.00833442e+01] [ 2.97393601e-03 9.99981891e-01 -5.23202390e-03 -9.91453715e-02] [ 6.16446304e-02 5.03877095e-03 9.98085442e-01 1.00203056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.542557844 meters Centerline goodness : 0.123396 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.10, Z:1.00 [[ 9.98076674e-01 -3.32345073e-03 -6.19023968e-02 -1.00822729e+01] [ 3.00995268e-03 9.99982173e-01 -5.15695574e-03 -9.98523105e-02] [ 6.19184321e-02 4.96071395e-03 9.98068885e-01 1.00148094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.602557844 meters Centerline goodness : 0.136449 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.10, Z:1.00 [[ 9.98056389e-01 -3.38805996e-03 -6.22251164e-02 -1.00812198e+01] [ 3.08571818e-03 9.99982967e-01 -4.95429376e-03 -1.01199752e-01] [ 6.22408419e-02 4.75265537e-03 9.98049843e-01 1.00116136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.662557844 meters Centerline goodness : 0.226287 with order 3 Centerline is valid? [False, False] Translation: X:-10.08, Y:-0.10, Z:1.00 [[ 9.98106713e-01 -3.47616966e-03 -6.14077026e-02 -1.00841115e+01] [ 3.19975911e-03 9.99984305e-01 -4.59900050e-03 -1.03547264e-01] [ 6.14227257e-02 4.39380341e-03 9.98102171e-01 1.00250681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.722557844 meters Centerline goodness : 0.131597 with order 3 Centerline is valid? [False, False] Translation: X:-10.12, Y:-0.11, Z:1.00 [[ 9.97861756e-01 -5.84519491e-03 -6.50979970e-02 -1.01240205e+01] [ 5.54348317e-03 9.99973045e-01 -4.81439550e-03 -1.13045112e-01] [ 6.51243834e-02 4.44323149e-03 9.97867262e-01 9.99261801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.782557844 meters Centerline goodness : 0.133495 with order 3 Centerline is valid? [False, False] Translation: X:-10.12, Y:-0.12, Z:1.00 [[ 9.97823694e-01 -5.65668382e-03 -6.56953350e-02 -1.01220945e+01] [ 5.39978799e-03 9.99977068e-01 -4.08731758e-03 -1.17338483e-01] [ 6.57169491e-02 3.72368144e-03 9.97831357e-01 9.98761615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.842557844 meters SLAMing on 276.902557844 meters Centerline goodness : 0.147862 with order 1 Centerline is valid? [False, False] Translation: X:-10.14, Y:-0.13, Z:1.00 [[ 9.97863736e-01 3.54452625e-03 -6.52334396e-02 -1.01447214e+01] [-3.77425930e-03 9.99987101e-01 -3.39880818e-03 -1.28153840e-01] [ 6.52205511e-02 3.63775534e-03 9.97864242e-01 9.97458044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.962557844 meters Centerline goodness : 0.148457 with order 1 Centerline is valid? [False, False] Translation: X:-10.14, Y:-0.13, Z:1.00 [[ 9.97846824e-01 3.59124023e-03 -6.54890775e-02 -1.01437584e+01] [-3.82927289e-03 9.99986510e-01 -3.50953188e-03 -1.27485176e-01] [ 6.54755905e-02 3.75275079e-03 9.97847114e-01 9.96905729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.022557844 meters Centerline goodness : 0.149671 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.13, Z:1.00 [[ 9.97905375e-01 4.12387819e-03 -6.45589311e-02 -1.01467592e+01] [-4.33398096e-03 9.99985757e-01 -3.11472686e-03 -1.27723959e-01] [ 6.45451668e-02 3.38799986e-03 9.97909035e-01 9.97735390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.082557844 meters Centerline goodness : 0.358123 with order 1 Centerline is valid? [False, False] Translation: X:-10.13, Y:-0.13, Z:1.00 [[ 9.98086640e-01 -3.41772237e-03 -6.17363570e-02 -1.01277288e+01] [ 3.29601952e-03 9.99992419e-01 -2.07306398e-03 -1.25730741e-01] [ 6.17429742e-02 1.86561323e-03 9.98090339e-01 9.99745743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.142557844 meters Centerline goodness : 0.361912 with order 1 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.13, Z:1.00 [[ 9.97924434e-01 -6.24059552e-03 -6.40927335e-02 -1.01738900e+01] [ 6.08220601e-03 9.99977949e-01 -2.66607308e-03 -1.33673550e-01] [ 6.41079581e-02 2.27071426e-03 9.97940386e-01 9.98873891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.202557844 meters Centerline goodness : 0.357379 with order 1 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.14, Z:1.00 [[ 9.97871395e-01 -6.29062244e-03 -6.49084524e-02 -1.01719360e+01] [ 6.17085566e-03 9.99978868e-01 -2.04548336e-03 -1.37555147e-01] [ 6.49199481e-02 1.64058864e-03 9.97889127e-01 9.99167178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.262557844 meters Centerline goodness : 0.148113 with order 1 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.14, Z:1.00 [[ 9.97804849e-01 -8.45077304e-03 -6.56815598e-02 -1.01681887e+01] [ 8.24891980e-03 9.99960386e-01 -3.34380152e-03 -1.44678712e-01] [ 6.57072156e-02 2.79465945e-03 9.97835032e-01 9.97708826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.322557844 meters Centerline goodness : 0.130869 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.15, Z:1.00 [[ 9.97827288e-01 -8.18945394e-03 -6.53730529e-02 -1.01695816e+01] [ 8.02095700e-03 9.99963800e-01 -2.83951409e-03 -1.46822775e-01] [ 6.53939404e-02 2.30899020e-03 9.97856854e-01 9.98628293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.382557844 meters Centerline goodness : 0.370029 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:1.00 [[ 9.97986602e-01 -1.19302316e-03 -6.34138641e-02 -1.01888466e+01] [ 1.02581664e-03 9.99995911e-01 -2.66924321e-03 -1.56338623e-01] [ 6.34167893e-02 2.59881797e-03 9.97983746e-01 9.96244833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442557844 meters Centerline goodness : 0.146729 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:1.00 [[ 9.97957562e-01 -1.22888120e-03 -6.38685732e-02 -1.01879942e+01] [ 1.09867230e-03 9.99997246e-01 -2.07378171e-03 -1.60196907e-01] [ 6.38709457e-02 1.99937550e-03 9.97956164e-01 9.96808433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502557844 meters Centerline goodness : 0.146726 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:1.00 [[ 9.97934597e-01 -1.08355447e-03 -6.42290046e-02 -1.01869334e+01] [ 9.86999653e-04 9.99998335e-01 -1.53500059e-03 -1.63144872e-01] [ 6.42305609e-02 1.46843619e-03 9.97934005e-01 9.96703580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562557844 meters Centerline goodness : 0.136634 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:1.00 [[ 9.97910634e-01 -1.11384946e-03 -6.45997418e-02 -1.01852913e+01] [ 1.01705119e-03 9.99998310e-01 -1.53129670e-03 -1.63638240e-01] [ 6.46013382e-02 1.46239601e-03 9.97910080e-01 9.95726860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622557844 meters Centerline goodness : 0.167511 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.16, Z:1.00 [[ 9.97896099e-01 -1.05595635e-03 -6.48248452e-02 -1.01850369e+01] [ 9.63612774e-04 9.99998476e-01 -1.45575839e-03 -1.63870685e-01] [ 6.48262836e-02 1.39022957e-03 9.97895596e-01 9.96157342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68255784400003 meters Centerline goodness : 0.148598 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.17, Z:0.99 [[ 9.97871845e-01 -3.47945873e-03 -6.51127825e-02 -1.01828148e+01] [ 3.28216933e-03 9.99989694e-01 -3.13668829e-03 -1.69249496e-01] [ 6.51230255e-02 2.91630176e-03 9.97872981e-01 9.94864811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74255784400003 meters Centerline goodness : 0.145204 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.17, Z:1.00 [[ 9.97851653e-01 -7.50366004e-03 -6.50828261e-02 -1.01831812e+01] [ 7.11507273e-03 9.99955464e-01 -6.20038815e-03 -1.74426585e-01] [ 6.51264532e-02 5.72399852e-03 9.97860602e-01 9.95339086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80255784400003 meters Centerline goodness : 0.170653 with order 3 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.19, Z:1.00 [[ 9.97919003e-01 -1.08709133e-02 -6.35569636e-02 -1.01894444e+01] [ 1.04667397e-02 9.99922851e-01 -6.68874351e-03 -1.88715834e-01] [ 6.36247730e-02 6.00959006e-03 9.97955797e-01 9.96482158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86255784400004 meters Centerline goodness : 0.142577 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.20, Z:1.00 [[ 9.97928424e-01 -1.34939187e-02 -6.29028920e-02 -1.01927807e+01] [ 1.30735789e-02 9.99889406e-01 -7.08918694e-03 -1.99233672e-01] [ 6.29915962e-02 6.25213523e-03 9.97994474e-01 9.96978493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92255784400004 meters Centerline goodness : 0.150638 with order 1 Centerline is valid? [False, False] Translation: X:-10.19, Y:-0.21, Z:1.00 [[ 9.97880823e-01 -1.70493738e-02 -6.27947656e-02 -1.01929249e+01] [ 1.65188762e-02 9.99823428e-01 -8.95765092e-03 -2.07054438e-01] [ 6.29364002e-02 7.90136911e-03 9.97986261e-01 9.96148953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.982557844 meters Centerline goodness : 0.130411 with order 3 Centerline is valid? [False, False] Translation: X:-10.21, Y:-0.22, Z:0.99 [[ 9.98212326e-01 -1.34137661e-02 -5.82427873e-02 -1.02142522e+01] [ 1.28456601e-02 9.99866303e-01 -1.01175873e-02 -2.24952097e-01] [ 5.83707153e-02 9.35133330e-03 9.98251177e-01 9.93840269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.042557844 meters Centerline goodness : 0.134899 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.23, Z:0.99 [[ 9.98239748e-01 -1.32043009e-02 -5.78191369e-02 -1.02157688e+01] [ 1.27073709e-02 9.99879169e-01 -8.95383033e-03 -2.29705049e-01] [ 5.79303796e-02 8.20334011e-03 9.98286921e-01 9.93963514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.102557844 meters Centerline goodness : 0.142739 with order 1 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.24, Z:0.99 [[ 9.98043879e-01 -3.56352957e-03 -6.24156831e-02 -1.02259269e+01] [ 2.97680892e-03 9.99950532e-01 -9.49068147e-03 -2.42739189e-01] [ 6.24464159e-02 9.28631698e-03 9.98005115e-01 9.91476367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.162557844 meters Centerline goodness : 0.123642 with order 3 Centerline is valid? [False, False] Translation: X:-10.22, Y:-0.25, Z:0.99 [[ 9.98017782e-01 -3.24608724e-03 -6.28487913e-02 -1.02244804e+01] [ 2.69469078e-03 9.99957153e-01 -8.85615825e-03 -2.45626899e-01] [ 6.28748462e-02 8.66924535e-03 9.97983766e-01 9.90975184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.222557844 meters Centerline goodness : 0.211319 with order 3 Centerline is valid? [False, False] Translation: X:-10.20, Y:-0.25, Z:0.99 [[ 9.97981859e-01 5.41755110e-03 -6.32681477e-02 -1.02045475e+01] [-6.07370491e-03 9.99929703e-01 -1.01832768e-02 -2.52790524e-01] [ 6.32085317e-02 1.05469976e-02 9.97944609e-01 9.93317955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.282557844 meters Centerline goodness : 0.120487 with order 3 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.25, Z:1.00 [[ 9.97992238e-01 -1.82365925e-03 -6.33100884e-02 -1.01835513e+01] [ 1.27057371e-03 9.99960689e-01 -8.77529741e-03 -2.52020737e-01] [ 6.33236028e-02 8.67723857e-03 9.97955323e-01 9.95062848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.342557844 meters Centerline goodness : 0.177955 with order 3 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.25, Z:1.00 [[ 9.97975045e-01 -1.66998207e-03 -6.35847492e-02 -1.01830570e+01] [ 1.14854066e-03 9.99965421e-01 -8.23639961e-03 -2.54896782e-01] [ 6.35963051e-02 8.14669160e-03 9.97942454e-01 9.95370704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.402557844 meters Centerline goodness : 0.178670 with order 3 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.26, Z:1.00 [[ 9.97960180e-01 -1.62808681e-03 -6.38187084e-02 -1.01827490e+01] [ 1.12225374e-03 9.99967680e-01 -7.96113966e-03 -2.56433523e-01] [ 6.38296072e-02 7.87327958e-03 9.97929753e-01 9.95783220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.462557844 meters Centerline goodness : 0.139305 with order 3 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.25, Z:1.00 [[ 9.97970300e-01 -1.91642238e-03 -6.36522388e-02 -1.01831184e+01] [ 1.37562509e-03 9.99962597e-01 -8.53886248e-03 -2.53708494e-01] [ 6.36662221e-02 8.43396954e-03 9.97935609e-01 9.95678380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.522557844 meters Centerline goodness : 0.143614 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.25, Z:1.00 [[ 9.97987105e-01 -2.18583839e-03 -6.33794912e-02 -1.01839895e+01] [ 1.60598611e-03 9.99956404e-01 -9.19839615e-03 -2.50151071e-01] [ 6.33968343e-02 9.07809416e-03 9.97947108e-01 9.95818347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.582557844 meters Centerline goodness : 0.141634 with order 1 Centerline is valid? [False, False] Translation: X:-10.16, Y:-0.24, Z:1.00 [[ 9.97894511e-01 -1.06282477e-02 -6.39811336e-02 -1.01638400e+01] [ 1.00490487e-02 9.99905627e-01 -9.36766960e-03 -2.43462636e-01] [ 6.40746574e-02 8.70499655e-03 9.97907141e-01 9.99102221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.642557844 meters Centerline goodness : 0.145970 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.25, Z:1.00 [[ 9.98013633e-01 -1.18844750e-02 -6.18671749e-02 -1.01707202e+01] [ 1.13513928e-02 9.99895418e-01 -8.96092855e-03 -2.45696133e-01] [ 6.19672007e-02 8.24085026e-03 9.98044165e-01 9.99133280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.702557844 meters Centerline goodness : 0.226030 with order 3 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.25, Z:1.00 [[ 9.98016052e-01 -2.19317793e-02 -5.90165745e-02 -1.01513793e+01] [ 2.14111153e-02 9.99726184e-01 -9.44035115e-03 -2.46235566e-01] [ 5.92074585e-02 8.15801131e-03 9.98212364e-01 1.00023390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.762557844 meters Centerline goodness : 0.148717 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.25, Z:1.00 [[ 9.97956711e-01 -2.32110158e-02 -5.95285794e-02 -1.01499265e+01] [ 2.26723762e-02 9.99695812e-01 -9.70803132e-03 -2.47241013e-01] [ 5.97358049e-02 8.33854066e-03 9.98179394e-01 9.98577147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.822557844 meters Centerline goodness : 0.145713 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:-0.24, Z:1.00 [[ 9.98016008e-01 -2.00823145e-02 -5.96720141e-02 -1.01498425e+01] [ 1.97132538e-02 9.99782773e-01 -6.76714581e-03 -2.44594424e-01] [ 5.97949517e-02 5.57739029e-03 9.98195099e-01 9.98321005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.882557844 meters Centerline goodness : 0.147171 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.25, Z:1.00 [[ 9.98186572e-01 -1.04092062e-02 -5.92892584e-02 -1.01652490e+01] [ 9.92244980e-03 9.99914658e-01 -8.49836415e-03 -2.45653177e-01] [ 5.93726597e-02 7.89465828e-03 9.98204669e-01 9.96218117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942557844 meters Centerline goodness : 0.164025 with order 1 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.24, Z:1.00 [[ 9.98192190e-01 -1.06133628e-02 -5.91583326e-02 -1.01658243e+01] [ 1.01199332e-02 9.99911515e-01 -8.63420845e-03 -2.43994377e-01] [ 5.92447359e-02 8.01992107e-03 9.98211271e-01 9.96522858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002557844 meters Centerline goodness : 0.216338 with order 3 Centerline is valid? [False, False] Translation: X:-10.17, Y:-0.24, Z:1.00 [[ 9.98190290e-01 -1.10351412e-02 -5.91132085e-02 -1.01661679e+01] [ 1.05430256e-02 9.99907176e-01 -8.63040687e-03 -2.43056907e-01] [ 5.92029591e-02 7.99155627e-03 9.98213977e-01 9.96842330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062557844 meters Centerline goodness : 0.223801 with order 3 Centerline is valid? [False, False] Translation: X:-10.16, Y:-0.24, Z:0.99 [[ 9.98078695e-01 -1.22112322e-02 -6.07437569e-02 -1.01604856e+01] [ 1.16569405e-02 9.99887201e-01 -9.47110993e-03 -2.40156461e-01] [ 6.08525590e-02 8.74482668e-03 9.98108458e-01 9.94709722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122557844 meters Centerline goodness : 0.130312 with order 3 Centerline is valid? [False, False] Translation: X:-10.16, Y:-0.24, Z:0.99 [[ 9.98052432e-01 -1.25421820e-02 -6.11067601e-02 -1.01591335e+01] [ 1.19551835e-02 9.99878906e-01 -9.96228960e-03 -2.37031685e-01] [ 6.12243093e-02 9.21234483e-03 9.98081518e-01 9.94125094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18255784400003 meters Centerline goodness : 0.129985 with order 3 Centerline is valid? [False, False] Translation: X:-10.16, Y:-0.23, Z:0.99 [[ 9.98051870e-01 -8.98599780e-03 -6.17390960e-02 -1.01581924e+01] [ 8.59220682e-03 9.99941035e-01 -6.64084630e-03 -2.34813620e-01] [ 6.17951302e-02 6.09743399e-03 9.98070230e-01 9.94794618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24255784400003 meters Centerline goodness : 0.145031 with order 3 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.23, Z:0.99 [[ 9.97882064e-01 -1.30836451e-03 -6.50359530e-02 -1.01782836e+01] [ 8.28671044e-04 9.99972260e-01 -7.40224793e-03 -2.32515011e-01] [ 6.50438337e-02 7.33267702e-03 9.97855466e-01 9.93362714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30255784400003 meters Centerline goodness : 0.122812 with order 3 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.23, Z:0.99 [[ 9.97941624e-01 -1.37515107e-03 -6.41141534e-02 -1.01811647e+01] [ 9.07464956e-04 9.99972774e-01 -7.32313470e-03 -2.31931363e-01] [ 6.41224782e-02 7.24987959e-03 9.97915701e-01 9.94265417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36255784400004 meters Centerline goodness : 0.179767 with order 1 Centerline is valid? [False, False] Translation: X:-10.18, Y:-0.23, Z:1.00 [[ 9.97956335e-01 -1.41159431e-03 -6.38839582e-02 -1.01823736e+01] [ 9.65743097e-04 9.99974967e-01 -7.00942065e-03 -2.32790769e-01] [ 6.38922534e-02 6.93340025e-03 9.97932717e-01 9.95260546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42255784400004 meters Centerline goodness : 0.215338 with order 3 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.23, Z:0.99 [[ 9.97761252e-01 -1.79180022e-03 -6.68526307e-02 -1.02280481e+01] [ 1.43057209e-03 9.99984121e-01 -5.45083078e-03 -2.33352335e-01] [ 6.68613360e-02 5.34299023e-03 9.97747971e-01 9.94327469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.482557844 meters Centerline goodness : 0.132123 with order 3 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.24, Z:1.00 [[ 9.97816122e-01 -1.38948777e-03 -6.60382919e-02 -1.02309264e+01] [ 1.07978023e-03 9.99988253e-01 -4.72527859e-03 -2.35607316e-01] [ 6.60440819e-02 4.64365232e-03 9.97805901e-01 9.95637746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.542557844 meters Centerline goodness : 0.163244 with order 1 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.24, Z:1.00 [[ 9.97817108e-01 -1.23791301e-03 -6.60264032e-02 -1.02313327e+01] [ 9.37752870e-04 9.99989086e-01 -4.57686053e-03 -2.35662824e-01] [ 6.60313483e-02 4.50495329e-03 9.97807379e-01 9.96237364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.602557844 meters Centerline goodness : 0.132963 with order 3 Centerline is valid? [False, False] Translation: X:-10.23, Y:-0.24, Z:1.00 [[ 9.97826667e-01 -1.08796045e-03 -6.58844427e-02 -1.02319115e+01] [ 8.04104539e-04 9.99990282e-01 -4.33475506e-03 -2.35845461e-01] [ 6.58885185e-02 4.27235622e-03 9.97817844e-01 9.96570122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.662557844 meters SLAMing on 279.722557844 meters Centerline goodness : 0.167858 with order 2 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.22, Z:0.99 [[ 9.97793196e-01 -8.34156841e-03 -6.58722795e-02 -1.02510188e+01] [ 8.30522612e-03 9.99965170e-01 -8.25533343e-04 -2.24580535e-01] [ 6.58768714e-02 2.76627376e-04 9.97827721e-01 9.94503321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.782557844 meters SLAMing on 279.842557844 meters Centerline goodness : 0.160444 with order 3 Centerline is valid? [False, False] Translation: X:-10.25, Y:-0.22, Z:0.99 [[ 9.97753206e-01 -1.02658009e-02 -6.62053888e-02 -1.02499020e+01] [ 1.01931244e-02 9.99947018e-01 -1.43544763e-03 -2.21538242e-01] [ 6.62166171e-02 7.57382713e-04 9.97804984e-01 9.94193461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.902557844 meters Centerline goodness : 0.142817 with order 2 Centerline is valid? [False, False] Translation: X:-10.27, Y:-0.22, Z:0.99 [[ 9.97768441e-01 -2.61787528e-03 -6.67179522e-02 -1.02693443e+01] [ 2.49848302e-03 9.99995125e-01 -1.87288430e-03 -2.19925669e-01] [ 6.67225299e-02 1.70201117e-03 9.97770117e-01 9.91930751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.962557844 meters Centerline goodness : 0.172048 with order 3 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.21, Z:0.99 [[ 9.97457722e-01 -5.79163480e-03 -7.10249924e-02 -1.03078309e+01] [ 5.55192707e-03 9.99978208e-01 -3.57192659e-03 -2.07621566e-01] [ 7.10441320e-02 3.16852018e-03 9.97468141e-01 9.88581353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.022557844 meters Centerline goodness : 0.229808 with order 3 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.20, Z:0.99 [[ 9.97421867e-01 -2.08199108e-03 -7.17306452e-02 -1.03054039e+01] [ 2.05693533e-03 9.99997795e-01 -4.23169441e-04 -2.03400772e-01] [ 7.17313680e-02 2.74533155e-04 9.97423950e-01 9.87607072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.082557844 meters Centerline goodness : 0.177650 with order 2 Centerline is valid? [False, False] Translation: X:-10.30, Y:-0.20, Z:0.99 [[ 9.97407237e-01 -2.58732731e-03 -7.19173739e-02 -1.03048626e+01] [ 2.48325115e-03 9.99995736e-01 -1.53653570e-03 -1.98172543e-01] [ 7.19210428e-02 1.35396293e-03 9.97409410e-01 9.87687948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.142557844 meters Centerline goodness : 0.136424 with order 3 Centerline is valid? [False, False] Translation: X:-10.30, Y:-0.19, Z:0.99 [[ 9.97389618e-01 -3.12985425e-03 -7.21398205e-02 -1.03038814e+01] [ 2.94107891e-03 9.99991968e-01 -2.72287262e-03 -1.92102526e-01] [ 7.21477633e-02 2.50359598e-03 9.97390812e-01 9.87196652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.202557844 meters Centerline goodness : 0.106031 with order 3 Centerline is valid? [False, False] Translation: X:-10.30, Y:-0.19, Z:0.99 [[ 9.97392548e-01 -3.33755718e-03 -7.20899875e-02 -1.03035434e+01] [ 3.11708770e-03 9.99990116e-01 -3.17053948e-03 -1.89606637e-01] [ 7.20998568e-02 2.93756163e-03 9.97393093e-01 9.86600862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.262557844 meters Centerline goodness : 0.122468 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.19, Z:0.99 [[ 9.97424137e-01 -3.57073647e-03 -7.16403628e-02 -1.03056413e+01] [ 3.29949257e-03 9.99986935e-01 -3.90417191e-03 -1.86122669e-01] [ 7.16533677e-02 3.65773845e-03 9.97422887e-01 9.88106625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.322557844 meters Centerline goodness : 0.258041 with order 3 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.18, Z:0.99 [[ 9.97511662e-01 -1.11408853e-03 -7.04928540e-02 -1.03106424e+01] [ 9.64225639e-04 9.99997202e-01 -2.15992243e-03 -1.80544598e-01] [ 7.04950632e-02 2.08657679e-03 9.97509946e-01 9.90295770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.382557844 meters Centerline goodness : 0.222051 with order 3 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.18, Z:0.99 [[ 9.97520244e-01 -1.36635039e-03 -7.03668667e-02 -1.03105122e+01] [ 1.16351091e-03 9.99995050e-01 -2.92350577e-03 -1.76623609e-01] [ 7.03705129e-02 2.83438358e-03 9.97516896e-01 9.89781183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442557844 meters Centerline goodness : 0.256764 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.17, Z:0.99 [[ 9.97606521e-01 9.37398517e-04 -6.91400801e-02 -1.03158715e+01] [-1.03751830e-03 9.99998465e-01 -1.41217573e-03 -1.70370419e-01] [ 6.91386502e-02 1.48052981e-03 9.97605962e-01 9.92179403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502557844 meters Centerline goodness : 0.254127 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.17, Z:0.99 [[ 9.97599602e-01 6.12053322e-04 -6.92434832e-02 -1.03156812e+01] [-7.53999508e-04 9.99997668e-01 -2.02383975e-03 -1.67715994e-01] [ 6.92420831e-02 2.07119128e-03 9.97597737e-01 9.92349156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562557844 meters Centerline goodness : 0.087707 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.17, Z:0.99 [[ 9.97605477e-01 5.03324594e-04 -6.91596631e-02 -1.03153341e+01] [-6.61811951e-04 9.99997207e-01 -2.26872186e-03 -1.66210452e-01] [ 6.91583280e-02 2.30906004e-03 9.97603024e-01 9.91470245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622557844 meters Centerline goodness : 0.242756 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.16, Z:0.99 [[ 9.97618394e-01 3.35503991e-04 -6.89741133e-02 -1.03159569e+01] [-5.22558524e-04 9.99996235e-01 -2.69392761e-03 -1.63693859e-01] [ 6.89729498e-02 2.72355475e-03 9.97614813e-01 9.91734009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68255784400003 meters Centerline goodness : 0.102783 with order 2 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.16, Z:0.99 [[ 9.97585861e-01 -1.70915809e-04 -6.94436530e-02 -1.03144642e+01] [-9.60990806e-05 9.99992616e-01 -3.84169927e-03 -1.57914523e-01] [ 6.94437968e-02 3.83909835e-03 9.97578478e-01 9.91470355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74255784400003 meters Centerline goodness : 0.102445 with order 2 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.15, Z:0.99 [[ 9.97569769e-01 -5.98677965e-04 -6.96720646e-02 -1.03130207e+01] [ 2.67138384e-04 9.99988598e-01 -4.76779272e-03 -1.53425674e-01] [ 6.96741246e-02 4.73759381e-03 9.97558555e-01 9.90303119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80255784400003 meters Centerline goodness : 0.101713 with order 2 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.15, Z:0.99 [[ 9.97573718e-01 -7.73998550e-04 -6.96137739e-02 -1.03130611e+01] [ 4.16294339e-04 9.99986638e-01 -5.15277216e-03 -1.51484249e-01] [ 6.96168320e-02 5.11129026e-03 9.97560711e-01 9.90120336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86255784400004 meters Centerline goodness : 0.093306 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.15, Z:0.99 [[ 9.97540396e-01 -1.22310950e-03 -7.00832598e-02 -1.03110596e+01] [ 7.94689414e-04 9.99980831e-01 -6.14057134e-03 -1.46323286e-01] [ 7.00894270e-02 6.06977354e-03 9.97522245e-01 9.89152591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92255784400004 meters Centerline goodness : 0.099355 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.14, Z:0.99 [[ 9.97455442e-01 1.45110470e-03 -7.12778783e-02 -1.03057467e+01] [-1.75067155e-03 9.99989896e-01 -4.14051090e-03 -1.40346038e-01] [ 7.12711498e-02 4.25475928e-03 9.97447904e-01 9.86748094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.982557844 meters Centerline goodness : 0.224702 with order 3 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.13, Z:0.99 [[ 9.97483416e-01 1.16546482e-03 -7.08905929e-02 -1.03066565e+01] [-1.54203099e-03 9.99984991e-01 -5.25743959e-03 -1.34010123e-01] [ 7.08834015e-02 5.35352429e-03 9.97470242e-01 9.86873630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.042557844 meters Centerline goodness : 0.098083 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:-0.13, Z:0.99 [[ 9.97526988e-01 3.45804881e-03 -7.01993650e-02 -1.03106234e+01] [-3.74563302e-03 9.99985123e-01 -3.96545840e-03 -1.26406140e-01] [ 7.01846079e-02 4.21859283e-03 9.97525100e-01 9.89202456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.102557844 meters Centerline goodness : 0.245817 with order 3 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.12, Z:0.99 [[ 9.97621648e-01 5.04062460e-03 -6.87432863e-02 -1.03174776e+01] [-5.30075665e-03 9.99979463e-01 -3.60222088e-03 -1.16500476e-01] [ 6.87237170e-02 3.95804496e-03 9.97627879e-01 9.92833153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.162557844 meters Centerline goodness : 0.107958 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.11, Z:0.99 [[ 9.97617577e-01 4.67115007e-03 -6.88284080e-02 -1.03168242e+01] [-4.99598141e-03 9.99977177e-01 -4.54805539e-03 -1.10788384e-01] [ 6.88055925e-02 4.88108545e-03 9.97618146e-01 9.92339921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.222557844 meters Centerline goodness : 0.113806 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.10, Z:0.99 [[ 9.97626098e-01 3.87628246e-03 -6.87542281e-02 -1.03170343e+01] [-4.30982010e-03 9.99971749e-01 -6.15840027e-03 -1.01888032e-01] [ 6.87284141e-02 6.44009918e-03 9.97614620e-01 9.92627729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.282557844 meters Centerline goodness : 0.114677 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.10, Z:0.99 [[ 9.97647933e-01 3.33538110e-03 -6.84651495e-02 -1.03183776e+01] [-3.84905731e-03 9.99965417e-01 -7.37219320e-03 -9.55055372e-02] [ 6.84381927e-02 7.61837959e-03 9.97626270e-01 9.93596297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.342557844 meters Centerline goodness : 0.109813 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.09, Z:0.99 [[ 9.97662342e-01 2.78023114e-03 -6.82797260e-02 -1.03183881e+01] [-3.37026026e-03 9.99957959e-01 -8.52767760e-03 -8.97394419e-02] [ 6.82531466e-02 8.73786326e-03 9.97629770e-01 9.93066931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.402557844 meters Centerline goodness : 0.168345 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.08, Z:0.99 [[ 9.97672462e-01 1.99467754e-03 -6.81592279e-02 -1.03181403e+01] [-2.68246609e-03 9.99946392e-01 -1.00008754e-02 -8.27584724e-02] [ 6.81356255e-02 1.01604328e-02 9.97624329e-01 9.92460281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.462557844 meters Centerline goodness : 0.110278 with order 2 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.08, Z:0.99 [[ 9.97678726e-01 1.52407857e-03 -6.80796374e-02 -1.03183989e+01] [-2.26706311e-03 9.99938702e-01 -1.08375355e-02 -7.90182010e-02] [ 6.80589470e-02 1.09667194e-02 9.97621026e-01 9.92621214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.522557844 meters Centerline goodness : 0.166169 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.07, Z:0.99 [[ 9.97640706e-01 8.90115138e-04 -6.86456843e-02 -1.03160315e+01] [-1.71914314e-03 9.99926294e-01 -1.20187839e-02 -7.34514058e-02] [ 6.86299266e-02 1.21084398e-02 9.97568704e-01 9.91433455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.582557844 meters Centerline goodness : 0.166055 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.07, Z:0.99 [[ 9.97693144e-01 3.43173205e-03 -6.77983248e-02 -1.03194978e+01] [-4.12631479e-03 9.99940405e-01 -1.01074539e-02 -6.78952986e-02] [ 6.77595983e-02 1.03638947e-02 9.97647847e-01 9.92850940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.642557844 meters Centerline goodness : 0.162776 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.06, Z:0.99 [[ 9.97682616e-01 6.17760972e-03 -6.77586465e-02 -1.03178043e+01] [-6.76455372e-03 9.99941534e-01 -8.43625348e-03 -6.03828890e-02] [ 6.77025690e-02 8.87506045e-03 9.97666074e-01 9.91346999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.702557844 meters Centerline goodness : 0.135970 with order 2 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.06, Z:0.99 [[ 9.97664088e-01 5.86865709e-03 -6.80582517e-02 -1.03168278e+01] [-6.51328151e-03 9.99935972e-01 -9.25362783e-03 -5.61302639e-02] [ 6.79995877e-02 9.67529472e-03 9.97638434e-01 9.91191538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.762557844 meters Centerline goodness : 0.167968 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.05, Z:0.99 [[ 9.97657846e-01 5.61216321e-03 -6.81713030e-02 -1.03162442e+01] [-6.29841628e-03 9.99931594e-01 -9.85583496e-03 -5.29130653e-02] [ 6.81113271e-02 1.02621223e-02 9.97624948e-01 9.90854820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.822557844 meters Centerline goodness : 0.172877 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.05, Z:0.99 [[ 9.97671068e-01 5.21247980e-03 -6.80093344e-02 -1.03166612e+01] [-5.93072922e-03 9.99928711e-01 -1.03634119e-02 -5.10999463e-02] [ 6.79504669e-02 1.07426211e-02 9.97630859e-01 9.90860717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.882557844 meters Centerline goodness : 0.164605 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.05, Z:0.99 [[ 9.97674828e-01 4.91769027e-03 -6.79761342e-02 -1.03166353e+01] [-5.68235274e-03 9.99922688e-01 -1.10602084e-02 -4.76250320e-02] [ 6.79164882e-02 1.14207559e-02 9.97625640e-01 9.90868147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942557844 meters Centerline goodness : 0.165125 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.05, Z:0.99 [[ 9.97693201e-01 4.79031528e-03 -6.77150672e-02 -1.03176370e+01] [-5.58455507e-03 9.99917763e-01 -1.15447170e-02 -4.52634248e-02] [ 6.76541956e-02 1.18962442e-02 9.97637905e-01 9.91537441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002557844 meters Centerline goodness : 0.153876 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.04, Z:0.99 [[ 9.97722297e-01 4.72318424e-03 -6.72897363e-02 -1.03192183e+01] [-5.55478580e-03 9.99910431e-01 -1.21767822e-02 -4.16884702e-02] [ 6.72261960e-02 1.25228271e-02 9.97659169e-01 9.92465211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062557844 meters Centerline goodness : 0.169908 with order 1 Centerline is valid? [False, False] Translation: X:-10.32, Y:-0.04, Z:0.99 [[ 9.97706553e-01 4.56881801e-03 -6.75334019e-02 -1.03184060e+01] [-5.43441132e-03 9.99905356e-01 -1.26391114e-02 -3.92712269e-02] [ 6.74692645e-02 1.29771286e-02 9.97636954e-01 9.92309448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122557844 meters Centerline goodness : 0.113759 with order 2 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.03, Z:0.99 [[ 9.97730263e-01 -3.63709656e-03 -6.72390825e-02 -1.03387318e+01] [ 2.83396126e-03 9.99923549e-01 -1.20359998e-02 -3.05901491e-02] [ 6.72777181e-02 1.18181283e-02 9.97664292e-01 9.90491393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18255784400003 meters Centerline goodness : 0.160597 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.03, Z:0.99 [[ 9.97746858e-01 -3.76033047e-03 -6.69855790e-02 -1.03393979e+01] [ 2.94689201e-03 9.99920768e-01 -1.22381609e-02 -2.95767391e-02] [ 6.70262911e-02 1.20131873e-02 9.97678886e-01 9.90502156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24255784400003 meters Centerline goodness : 0.158016 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.03, Z:0.99 [[ 9.97748767e-01 -3.86606026e-03 -6.69511069e-02 -1.03391956e+01] [ 3.05148362e-03 9.99920129e-01 -1.22647330e-02 -2.97433393e-02] [ 6.69931756e-02 1.20328221e-02 9.97680874e-01 9.89987602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30255784400003 meters Centerline goodness : 0.105807 with order 2 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.03, Z:0.99 [[ 9.97762276e-01 -5.93580102e-04 -6.68587242e-02 -1.03389144e+01] [-1.60465370e-05 9.99958437e-01 -9.11722542e-03 -2.76294487e-02] [ 6.68613571e-02 9.09789644e-03 9.97720796e-01 9.89207973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36255784400004 meters Centerline goodness : 0.155890 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.03, Z:0.99 [[ 9.97736017e-01 -7.35420472e-04 -6.72480457e-02 -1.03374676e+01] [ 1.09521058e-04 9.99956650e-01 -9.31053804e-03 -2.67685254e-02] [ 6.72519777e-02 9.28209406e-03 9.97692846e-01 9.88511183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42255784400004 meters Centerline goodness : 0.163418 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.03, Z:0.99 [[ 9.97727701e-01 -9.05159826e-04 -6.73692508e-02 -1.03367091e+01] [ 2.69404542e-04 9.99955355e-01 -9.44536318e-03 -2.61912864e-02] [ 6.73747927e-02 9.40575091e-03 9.97683401e-01 9.87788067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.482557844 meters Centerline goodness : 0.112174 with order 2 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.03, Z:0.99 [[ 9.97735993e-01 -1.01610602e-03 -6.72447524e-02 -1.03370096e+01] [ 3.70725992e-04 9.99953761e-01 -9.60926092e-03 -2.55911490e-02] [ 6.72514071e-02 9.56257611e-03 9.97690235e-01 9.87722937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.542557844 meters Centerline goodness : 0.153868 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.03, Z:0.99 [[ 9.97720022e-01 -1.09020883e-03 -6.74801448e-02 -1.03362376e+01] [ 4.40466585e-04 9.99953410e-01 -9.64277280e-03 -2.58404114e-02] [ 6.74875136e-02 9.59106473e-03 9.97674018e-01 9.87436346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.602557844 meters Centerline goodness : 0.159933 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.03, Z:0.99 [[ 9.97713350e-01 -1.05130427e-03 -6.75793301e-02 -1.03360004e+01] [ 4.07400197e-04 9.99954399e-01 -9.54119715e-03 -2.63867128e-02] [ 6.75862791e-02 9.49184794e-03 9.97668281e-01 9.87434072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.662557844 meters Centerline goodness : 0.101892 with order 2 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.02, Z:0.99 [[ 9.97833557e-01 1.16536837e-03 -6.57786711e-02 -1.03441908e+01] [-1.68243037e-03 9.99968119e-01 -7.80578657e-03 -2.42643557e-02] [ 6.57674774e-02 7.89954382e-03 9.97803706e-01 9.91378216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.722557844 meters Centerline goodness : 0.167773 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.02, Z:0.99 [[ 9.97836106e-01 1.07770970e-03 -6.57414984e-02 -1.03444872e+01] [-1.61571613e-03 9.99965637e-01 -8.13104718e-03 -2.27394799e-02] [ 6.57304764e-02 8.21967205e-03 9.97803559e-01 9.91779046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.782557844 meters Centerline goodness : 0.160307 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.02, Z:0.99 [[ 9.97788244e-01 1.19453994e-03 -6.64619725e-02 -1.03424572e+01] [-1.76369803e-03 9.99962271e-01 -8.50565021e-03 -2.00182225e-02] [ 6.64493047e-02 8.60405664e-03 9.97752705e-01 9.91589819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.842557844 meters Centerline goodness : 0.112491 with order 2 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.02, Z:0.99 [[ 9.97803215e-01 5.25451203e-03 -6.60388859e-02 -1.03434340e+01] [-5.57077678e-03 9.99973876e-01 -4.60583499e-03 -2.00360987e-02] [ 6.60129593e-02 4.96360485e-03 9.97806420e-01 9.91410818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.902557844 meters Centerline goodness : 0.117109 with order 2 Centerline is valid? [False, False] Translation: X:-10.34, Y:-0.02, Z:0.99 [[ 9.97831344e-01 5.13197302e-03 -6.56221846e-02 -1.03447723e+01] [-5.45670718e-03 9.99973734e-01 -4.77026540e-03 -1.96001440e-02] [ 6.55959801e-02 5.11800138e-03 9.97833139e-01 9.91805549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.962557844 meters Centerline goodness : 0.141530 with order 2 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.01, Z:0.99 [[ 9.97762064e-01 -2.99650720e-03 -6.67973329e-02 -1.03634680e+01] [ 2.74465794e-03 9.99988777e-01 -3.86180088e-03 -1.10657833e-02] [ 6.68081551e-02 3.66982259e-03 9.97759091e-01 9.89601338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.022557844 meters Centerline goodness : 0.122489 with order 2 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.01, Z:0.99 [[ 9.97777601e-01 9.33748895e-04 -6.66257196e-02 -1.03639452e+01] [-9.72335354e-04 9.99999378e-01 -5.46727648e-04 -7.60859198e-03] [ 6.66251676e-02 6.10295144e-04 9.97777888e-01 9.89658582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.082557844 meters Centerline goodness : 0.160010 with order 1 Centerline is valid? [False, False] Translation: X:-10.36, Y:-0.01, Z:0.99 [[ 9.97796216e-01 7.73767744e-04 -6.63484120e-02 -1.03646519e+01] [-8.29502421e-04 9.99999326e-01 -8.12485989e-04 -6.36694652e-03] [ 6.63477386e-02 8.65731614e-04 9.97796186e-01 9.89599717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.142557844 meters Centerline goodness : 0.161785 with order 1 Centerline is valid? [False, False] Translation: X:-10.38, Y:-0.01, Z:0.99 [[ 9.97551567e-01 -8.59940398e-03 -6.94040501e-02 -1.03813740e+01] [ 8.61815730e-03 9.99962863e-01 -2.92245946e-05 -5.70589561e-03] [ 6.94017240e-02 -5.68981981e-04 9.97588631e-01 9.86077457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.202557844 meters Centerline goodness : 0.140473 with order 3 Centerline is valid? [False, False] Translation: X:-10.38, Y:-0.01, Z:0.99 [[ 9.97523840e-01 -8.67804018e-03 -6.97916870e-02 -1.03800556e+01] [ 8.72802661e-03 9.99961825e-01 4.11305815e-04 -8.58208018e-03] [ 6.97854534e-02 -1.01943106e-03 9.97561502e-01 9.85441996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.262557844 meters Centerline goodness : 0.112201 with order 2 Centerline is valid? [False, False] Translation: X:-10.38, Y:-0.01, Z:0.99 [[ 9.97506916e-01 -8.64436122e-03 -7.00373276e-02 -1.03795849e+01] [ 8.69013949e-03 9.99962179e-01 3.48956227e-04 -8.16151550e-03] [ 7.00316622e-02 -9.56720397e-04 9.97544310e-01 9.85770461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.322557844 meters Centerline goodness : 0.164584 with order 1 Centerline is valid? [False, False] Translation: X:-10.38, Y:-0.00, Z:0.99 [[ 9.97537759e-01 -4.33761362e-03 -6.99971796e-02 -1.03793348e+01] [ 4.60294866e-03 9.99982819e-01 3.62980333e-03 -3.85373220e-03] [ 6.99802323e-02 -3.94305930e-03 9.97540585e-01 9.85379378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.382557844 meters Centerline goodness : 0.166892 with order 1 Centerline is valid? [False, False] Translation: X:-10.40, Y:-0.00, Z:0.98 [[ 9.97544122e-01 4.90607115e-03 -6.98688365e-02 -1.04015507e+01] [-4.73764153e-03 9.99985459e-01 2.57616054e-03 -1.66065532e-03] [ 6.98804593e-02 -2.23882030e-03 9.97552860e-01 9.82945772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442557844 meters Centerline goodness : 0.114787 with order 2 Centerline is valid? [False, False] Translation: X:-10.40, Y:0.00, Z:0.98 [[ 9.97508619e-01 4.86037665e-03 -7.03770740e-02 -1.04002373e+01] [-4.74428734e-03 9.99987096e-01 1.81659180e-03 3.20971810e-03] [ 7.03849952e-02 -1.47817692e-03 9.97518806e-01 9.83018764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502557844 meters Centerline goodness : 0.297208 with order 2 Centerline is valid? [False, False] Translation: X:-10.40, Y:0.01, Z:0.98 [[ 9.97456081e-01 4.63122166e-03 -7.11331078e-02 -1.03974826e+01] [-4.55275669e-03 9.99988836e-01 1.26516486e-03 6.03182644e-03] [ 7.11381729e-02 -9.38094647e-04 9.97466030e-01 9.81793855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562557844 meters Centerline goodness : 0.105699 with order 2 Centerline is valid? [False, False] Translation: X:-10.40, Y:0.01, Z:0.98 [[ 9.97509528e-01 4.34708355e-03 -7.03977556e-02 -1.03996598e+01] [-4.29868587e-03 9.99990409e-01 8.38971870e-04 7.85536906e-03] [ 7.04007274e-02 -5.34264597e-04 9.97518648e-01 9.82260656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622557844 meters Centerline goodness : 0.338236 with order 2 Centerline is valid? [False, False] Translation: X:-10.38, Y:0.01, Z:0.98 [[ 9.97621214e-01 -4.68703068e-03 -6.87745977e-02 -1.03800054e+01] [ 4.80357480e-03 9.99987293e-01 1.52930012e-03 8.88053155e-03] [ 6.87665560e-02 -1.85602616e-03 9.97631052e-01 9.84381413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68255784400003 meters Centerline goodness : 0.161012 with order 1 Centerline is valid? [False, False] Translation: X:-10.43, Y:0.01, Z:0.98 [[ 9.97407720e-01 -5.57936235e-03 -7.17405768e-02 -1.04252386e+01] [ 5.65247409e-03 9.99983692e-01 8.16134113e-04 1.09110493e-02] [ 7.17348533e-02 -1.21953022e-03 9.97422991e-01 9.82487619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74255784400003 meters Centerline goodness : 0.103711 with order 2 Centerline is valid? [False, False] Translation: X:-10.42, Y:0.01, Z:0.98 [[ 9.97398213e-01 -5.53830096e-03 -7.18758138e-02 -1.04249226e+01] [ 5.61530604e-03 9.99983856e-01 8.69341939e-04 1.09316678e-02] [ 7.18698388e-02 -1.27068479e-03 9.97413210e-01 9.82574701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80255784400003 meters Centerline goodness : 0.167226 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:0.01, Z:0.98 [[ 9.97532719e-01 3.17647953e-03 -7.01311915e-02 -1.04499515e+01] [-3.16639077e-03 9.99994954e-01 2.55023631e-04 9.46289717e-03] [ 7.01316477e-02 -3.23316586e-05 9.97537744e-01 9.81172543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86255784400004 meters Centerline goodness : 0.253772 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:0.01, Z:0.98 [[ 9.97573389e-01 5.71726133e-03 -6.93876516e-02 -1.04537347e+01] [-5.56701168e-03 9.99981723e-01 2.35854819e-03 1.27311288e-02] [ 6.93998678e-02 -1.96654304e-03 9.97586984e-01 9.82940063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92255784400004 meters Centerline goodness : 0.116987 with order 2 Centerline is valid? [False, False] Translation: X:-10.46, Y:0.01, Z:0.98 [[ 9.97645459e-01 5.32988428e-03 -6.83749269e-02 -1.04569092e+01] [-5.19767550e-03 9.99984263e-01 2.11134474e-03 1.24955694e-02] [ 6.83851042e-02 -1.75098281e-03 9.97657462e-01 9.83661549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.982557844 meters Centerline goodness : 0.106190 with order 2 Centerline is valid? [False, False] Translation: X:-10.46, Y:0.01, Z:0.98 [[ 9.97666633e-01 5.33459900e-03 -6.80649081e-02 -1.04579954e+01] [-5.19206622e-03 9.99983943e-01 2.27080477e-03 1.18322804e-02] [ 6.80759290e-02 -1.91210864e-03 9.97678311e-01 9.84021676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.042557844 meters Centerline goodness : 0.107948 with order 2 Centerline is valid? [False, False] Translation: X:-10.48, Y:0.02, Z:0.98 [[ 9.97534698e-01 -3.36141619e-03 -7.00944222e-02 -1.04764176e+01] [ 3.59039706e-03 9.99988621e-01 3.14101598e-03 1.58706339e-02] [ 7.00830664e-02 -3.38493924e-03 9.97535416e-01 9.81209367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.102557844 meters Centerline goodness : 0.107492 with order 2 Centerline is valid? [False, False] Translation: X:-10.47, Y:0.01, Z:0.98 [[ 9.97448297e-01 -6.01222815e-03 -7.11389395e-02 -1.04709214e+01] [ 6.12949755e-03 9.99980192e-01 1.43026923e-03 1.05909738e-02] [ 7.11289312e-02 -1.86266556e-03 9.97465391e-01 9.78129784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.162557844 meters Centerline goodness : 0.162882 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:0.01, Z:0.98 [[ 9.97451755e-01 -5.90281261e-03 -7.10996020e-02 -1.04711486e+01] [ 6.03731851e-03 9.99980369e-01 1.67704467e-03 9.38499888e-03] [ 7.10883070e-02 -2.10202210e-03 9.97467811e-01 9.78321286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.222557844 meters Centerline goodness : 0.193943 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:0.01, Z:0.98 [[ 9.97434347e-01 -5.35240109e-03 -7.13867996e-02 -1.04703350e+01] [ 5.47037559e-03 9.99983976e-01 1.45720482e-03 1.18527227e-02] [ 7.13778561e-02 -1.84397874e-03 9.97447643e-01 9.78420061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.282557844 meters Centerline goodness : 0.164004 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:0.01, Z:0.98 [[ 9.97454743e-01 -1.09515492e-03 -7.12940197e-02 -1.04704420e+01] [ 1.45396814e-03 9.99986537e-01 4.98116462e-03 1.43532620e-02] [ 7.12876047e-02 -5.07214551e-03 9.97442906e-01 9.78296641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.342557844 meters Centerline goodness : 0.108020 with order 2 Centerline is valid? [False, False] Translation: X:-10.48, Y:0.02, Z:0.98 [[ 9.97561973e-01 2.02311199e-03 -6.97568381e-02 -1.04767497e+01] [-1.54849144e-03 9.99975289e-01 6.85733231e-03 1.97636292e-02] [ 6.97689875e-02 -6.73259608e-03 9.97540456e-01 9.80850935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.402557844 meters Centerline goodness : 0.167785 with order 1 Centerline is valid? [False, False] Translation: X:-10.48, Y:0.02, Z:0.98 [[ 9.97601765e-01 2.30704072e-03 -6.91765566e-02 -1.04782794e+01] [-1.85266827e-03 9.99976294e-01 6.63173933e-03 2.19287498e-02] [ 6.91902164e-02 -6.48767365e-03 9.97582390e-01 9.81034022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.462557844 meters Centerline goodness : 0.160314 with order 1 Centerline is valid? [False, False] Translation: X:-10.48, Y:0.03, Z:0.98 [[ 9.97582858e-01 2.49353823e-03 -6.94422352e-02 -1.04773696e+01] [-2.06712170e-03 9.99978570e-01 6.21177619e-03 2.50639369e-02] [ 6.94562363e-02 -6.05321590e-03 9.97566634e-01 9.80776246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.522557844 meters Centerline goodness : 0.157681 with order 1 Centerline is valid? [False, False] Translation: X:-10.48, Y:0.03, Z:0.98 [[ 9.97546892e-01 6.75564025e-03 -6.96746653e-02 -1.04765747e+01] [-6.07628334e-03 9.99931959e-01 9.95775195e-03 2.69693478e-02] [ 6.97371955e-02 -9.50996150e-03 9.97520067e-01 9.80577542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.582557844 meters Centerline goodness : 0.154437 with order 1 Centerline is valid? [False, False] Translation: X:-10.50, Y:0.03, Z:0.98 [[ 9.97703518e-01 1.67999416e-03 -6.77116446e-02 -1.04967257e+01] [-8.36909989e-04 9.99921802e-01 1.24775399e-02 3.40975378e-02] [ 6.77273119e-02 -1.23922169e-02 9.97626906e-01 9.77574526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.642557844 meters Centerline goodness : 0.172299 with order 1 Centerline is valid? [False, False] Translation: X:-10.50, Y:0.04, Z:0.98 [[ 9.97731180e-01 5.55324807e-03 -6.70943645e-02 -1.04986095e+01] [-4.55624374e-03 9.99877058e-01 1.50036282e-02 4.06027738e-02] [ 6.71694347e-02 -1.46638894e-02 9.97633819e-01 9.77922016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.702557844 meters Centerline goodness : 0.142820 with order 2 Centerline is valid? [False, False] Translation: X:-10.52, Y:0.05, Z:0.98 [[ 9.97711901e-01 1.06044179e-03 -6.76005779e-02 -1.05190046e+01] [ 1.86175100e-04 9.99830100e-01 1.84319539e-02 4.82620324e-02] [ 6.76086386e-02 -1.84023653e-02 9.97542192e-01 9.75683742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.762557844 meters Centerline goodness : 0.117198 with order 3 Centerline is valid? [False, False] Translation: X:-10.52, Y:0.05, Z:0.97 [[ 9.97650734e-01 3.65978772e-03 -6.84077459e-02 -1.05157031e+01] [-2.25346406e-03 9.99784767e-01 2.06238332e-02 5.16051306e-02] [ 6.84685011e-02 -2.04212279e-02 9.97444253e-01 9.74477666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.822557844 meters Centerline goodness : 0.110487 with order 2 Centerline is valid? [False, False] Translation: X:-10.56, Y:0.06, Z:0.97 [[ 9.97422341e-01 4.85169608e-03 -7.15900492e-02 -1.05592583e+01] [-3.39866239e-03 9.99786031e-01 2.04044583e-02 5.70469936e-02] [ 7.16737274e-02 -2.01085521e-02 9.97225412e-01 9.72212622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.882557844 meters Centerline goodness : 0.115957 with order 2 Centerline is valid? [False, False] Translation: X:-10.56, Y:0.06, Z:0.97 [[ 9.97419561e-01 5.64178342e-03 -7.15708736e-02 -1.05589787e+01] [-4.19593746e-03 9.99784400e-01 2.03358835e-02 6.13084804e-02] [ 7.16701735e-02 -1.99831011e-02 9.97228189e-01 9.71685923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942557844 meters Centerline goodness : 0.127586 with order 1 Centerline is valid? [False, False] Translation: X:-10.56, Y:0.07, Z:0.97 [[ 9.97465113e-01 5.97444410e-03 -7.09059576e-02 -1.05612112e+01] [-4.57882860e-03 9.99792904e-01 1.98288702e-02 6.51949938e-02] [ 7.10097398e-02 -1.94539400e-02 9.97285897e-01 9.72188174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002557844 meters Centerline goodness : 0.222438 with order 1 Centerline is valid? [False, False] Translation: X:-10.56, Y:0.07, Z:0.97 [[ 9.97458076e-01 6.73374239e-03 -7.09368980e-02 -1.05607756e+01] [-5.34919009e-03 9.99791823e-01 1.96900029e-02 7.02918800e-02] [ 7.10547180e-02 -1.92604975e-02 9.97286448e-01 9.71466707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062557844 meters Centerline goodness : 0.125332 with order 1 Centerline is valid? [False, False] Translation: X:-10.56, Y:0.07, Z:0.97 [[ 9.97471921e-01 6.56045804e-03 -7.07582318e-02 -1.05612843e+01] [-5.20815408e-03 9.99800574e-01 1.92792021e-02 7.19376455e-02] [ 7.08706012e-02 -1.88619430e-02 9.97307167e-01 9.71353262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122557844 meters Centerline goodness : 0.112207 with order 3 Centerline is valid? [False, False] Translation: X:-10.56, Y:0.07, Z:0.97 [[ 9.97475840e-01 3.64927517e-03 -7.09128460e-02 -1.05620262e+01] [-2.47381533e-03 9.99858204e-01 1.66568790e-02 7.01380157e-02] [ 7.09635764e-02 -1.64394090e-02 9.97343430e-01 9.72495163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18255784400003 meters Centerline goodness : 0.129861 with order 1 Centerline is valid? [False, False] Translation: X:-10.56, Y:0.07, Z:0.97 [[ 9.97529758e-01 8.50095716e-04 -7.02400069e-02 -1.05641885e+01] [ 1.16922091e-04 9.99905291e-01 1.37620782e-02 6.85957170e-02] [ 7.02450537e-02 -1.37362952e-02 9.97435184e-01 9.72993167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24255784400003 meters Centerline goodness : 0.151403 with order 1 Centerline is valid? [False, False] Translation: X:-10.57, Y:0.07, Z:0.97 [[ 9.97591471e-01 1.05547989e-03 -6.93551946e-02 -1.05667088e+01] [-1.12271731e-04 9.99907480e-01 1.36021666e-02 6.92734113e-02] [ 6.93631347e-02 -1.35616188e-02 9.97499292e-01 9.73536836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30255784400003 meters Centerline goodness : 0.220189 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:0.07, Z:0.97 [[ 0.9975459 0.01215611 -0.06895221 -10.59052075] [ -0.0112025 0.99983642 0.01419983 0.06933707] [ 0.06911354 -0.01339254 0.9975189 0.97261265] [ 0. 0. 0. 1. ]] SLAMing on 285.36255784400004 meters Centerline goodness : 0.155517 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:0.07, Z:0.97 [[ 0.99754299 0.0124326 -0.068945 -10.59051779] [ -0.0115234 0.99984153 0.0135694 0.07326433] [ 0.06910277 -0.01274158 0.99752817 0.97203734] [ 0. 0. 0. 1. ]] SLAMing on 285.42255784400004 meters Centerline goodness : 0.158467 with order 2 Centerline is valid? [False, False] Translation: X:-10.59, Y:0.08, Z:0.97 [[ 0.99746784 0.01623084 -0.06924213 -10.58886144] [ -0.01514292 0.99975397 0.01620785 0.07937856] [ 0.06948816 -0.01511828 0.99746821 0.97060047] [ 0. 0. 0. 1. ]] SLAMing on 285.482557844 meters Centerline goodness : 0.093955 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:0.08, Z:0.97 [[ 0.99744392 0.01588798 -0.06966488 -10.587514 ] [ -0.01485132 0.99977152 0.01537349 0.08315488] [ 0.06989322 -0.01429958 0.99745198 0.97006503] [ 0. 0. 0. 1. ]] SLAMing on 285.542557844 meters Centerline goodness : 0.125136 with order 1 Centerline is valid? [False, False] Translation: X:-10.58, Y:0.09, Z:0.97 [[ 0.99739716 0.01529336 -0.0704629 -10.58439501] [ -0.01430951 0.99979325 0.01444627 0.08637842] [ 0.07066927 -0.01340038 0.99740979 0.96847684] [ 0. 0. 0. 1. ]] SLAMing on 285.602557844 meters Centerline goodness : 0.247256 with order 3 Centerline is valid? [False, False] Translation: X:-10.58, Y:0.09, Z:0.97 [[ 0.99738605 0.01516213 -0.0706483 -10.58363317] [ -0.01419485 0.99979879 0.0141735 0.08762304] [ 0.07084898 -0.01313361 0.99740059 0.96801658] [ 0. 0. 0. 1. ]] SLAMing on 285.662557844 meters Centerline goodness : 0.240785 with order 3 Centerline is valid? [False, False] Translation: X:-10.58, Y:0.09, Z:0.97 [[ 0.9973779 0.01506238 -0.07078452 -10.58320065] [ -0.0141043 0.9998023 0.01401562 0.08829471] [ 0.07098163 -0.01298051 0.99739316 0.96795248] [ 0. 0. 0. 1. ]] SLAMing on 285.722557844 meters Centerline goodness : 0.114533 with order 1 Centerline is valid? [False, False] Translation: X:-10.60, Y:0.10, Z:0.97 [[ 9.97429823e-01 6.05430855e-03 -7.13939383e-02 -1.06040326e+01] [-5.05549266e-03 9.99886925e-01 1.41626143e-02 9.55735590e-02] [ 7.14716103e-02 -1.37652823e-02 9.97347645e-01 9.66267419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.782557844 meters Centerline goodness : 0.212313 with order 3 Centerline is valid? [False, False] Translation: X:-10.60, Y:0.10, Z:0.97 [[ 9.97420897e-01 6.03824434e-03 -7.15198873e-02 -1.06036808e+01] [-5.04729409e-03 9.99888861e-01 1.40282191e-02 9.62736829e-02] [ 7.15966445e-02 -1.36310570e-02 9.97340521e-01 9.66202046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.842557844 meters Centerline goodness : 0.252782 with order 3 Centerline is valid? [False, False] Translation: X:-10.60, Y:0.10, Z:0.97 [[ 9.97433161e-01 6.05498805e-03 -7.13472238e-02 -1.06043285e+01] [-5.06058028e-03 9.99887641e-01 1.41101094e-02 9.55831699e-02] [ 7.14246439e-02 -1.37128327e-02 9.97351733e-01 9.66453092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.902557844 meters Centerline goodness : 0.098261 with order 1 Centerline is valid? [False, False] Translation: X:-10.61, Y:0.09, Z:0.97 [[ 9.97447408e-01 6.04644272e-03 -7.11485038e-02 -1.06054538e+01] [-5.05080955e-03 9.99886910e-01 1.41653299e-02 9.49148428e-02] [ 7.12261075e-02 -1.37698141e-02 9.97365146e-01 9.67302388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.962557844 meters Centerline goodness : 0.246515 with order 3 Centerline is valid? [False, False] Translation: X:-10.61, Y:0.10, Z:0.97 [[ 9.97452380e-01 6.11583435e-03 -7.10728264e-02 -1.06053743e+01] [-5.12616025e-03 9.99887466e-01 1.40988535e-02 9.51772537e-02] [ 7.11510545e-02 -1.36986043e-02 9.97371483e-01 9.66838177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.022557844 meters Centerline goodness : 0.127954 with order 1 Centerline is valid? [False, False] Translation: X:-10.61, Y:0.09, Z:0.97 [[ 9.97466056e-01 6.23245619e-03 -7.08704651e-02 -1.06059201e+01] [-5.23787937e-03 9.99885301e-01 1.42109191e-02 9.47331697e-02] [ 7.09509053e-02 -1.38036985e-02 9.97384293e-01 9.66804725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.082557844 meters Centerline goodness : 0.104173 with order 2 Centerline is valid? [False, False] Translation: X:-10.60, Y:0.09, Z:0.97 [[ 9.97436590e-01 6.53230135e-03 -7.12571228e-02 -1.06049283e+01] [-5.50358677e-03 9.99877925e-01 1.46234517e-02 9.27940037e-02] [ 7.13439488e-02 -1.41937961e-02 9.97350779e-01 9.66803795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.142557844 meters Centerline goodness : 0.090690 with order 1 Centerline is valid? [False, False] Translation: X:-10.61, Y:0.09, Z:0.97 [[ 9.97443319e-01 6.80053734e-03 -7.11377377e-02 -1.06054115e+01] [-5.73084356e-03 9.99867590e-01 1.52302462e-02 8.97284462e-02] [ 7.12318922e-02 -1.47836281e-02 9.97350220e-01 9.67111490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.202557844 meters Centerline goodness : 0.118248 with order 2 Centerline is valid? [False, False] Translation: X:-10.61, Y:0.09, Z:0.97 [[ 9.97480405e-01 7.20908995e-03 -7.05752822e-02 -1.06071998e+01] [-6.09543849e-03 9.99853695e-01 1.59822920e-02 8.66827864e-02] [ 7.06801745e-02 -1.55118358e-02 9.97378412e-01 9.67664727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.262557844 meters Centerline goodness : 0.168652 with order 1 Centerline is valid? [False, False] Translation: X:-10.61, Y:0.09, Z:0.97 [[ 9.97468416e-01 7.23197151e-03 -7.07421880e-02 -1.06063893e+01] [-6.11429280e-03 9.99853247e-01 1.60031272e-02 8.63665261e-02] [ 7.08475406e-02 -1.55300755e-02 9.97366253e-01 9.67086559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.322557844 meters Centerline goodness : 0.149835 with order 2 Centerline is valid? [False, False] Translation: X:-10.60, Y:0.09, Z:0.97 [[ 9.97425090e-01 7.62452410e-03 -7.13095776e-02 -1.06047470e+01] [-6.50087650e-03 9.99851240e-01 1.59761506e-02 8.78436596e-02] [ 7.14207801e-02 -1.54714387e-02 9.97326279e-01 9.66696491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.382557844 meters Centerline goodness : 0.108735 with order 2 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.97 [[ 9.97219130e-01 6.23181847e-03 -7.42642024e-02 -1.06513161e+01] [-5.19052809e-03 9.99885615e-01 1.42061949e-02 8.68891105e-02] [ 7.43442381e-02 -1.37812189e-02 9.97137409e-01 9.65766537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442557844 meters Centerline goodness : 0.173087 with order 1 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.97 [[ 9.97214516e-01 6.23202571e-03 -7.43261093e-02 -1.06511463e+01] [-5.18714608e-03 9.99885111e-01 1.42428060e-02 8.67299397e-02] [ 7.44063316e-02 -1.38175925e-02 9.97132274e-01 9.65747733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502557844 meters Centerline goodness : 0.166511 with order 1 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.97 [[ 9.97207586e-01 6.18076101e-03 -7.44233027e-02 -1.06505691e+01] [-5.14747178e-03 9.99887794e-01 1.40677657e-02 8.75226441e-02] [ 7.45019015e-02 -1.36453908e-02 9.97127509e-01 9.65211924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562557844 meters Centerline goodness : 0.164310 with order 1 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.97 [[ 9.97205211e-01 6.16071664e-03 -7.44567798e-02 -1.06507777e+01] [-5.15443281e-03 9.99892870e-01 1.36996172e-02 8.95273796e-02] [ 7.45332027e-02 -1.32775472e-02 9.97130136e-01 9.65481157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622557844 meters Centerline goodness : 0.177248 with order 2 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.97 [[ 9.97209972e-01 6.28897399e-03 -7.43822577e-02 -1.06511228e+01] [-5.29058501e-03 9.99893358e-01 1.36118373e-02 9.05806800e-02] [ 7.44599299e-02 -1.31803343e-02 9.97136900e-01 9.65606093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68255784400003 meters Centerline goodness : 0.151395 with order 3 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.96 [[ 9.97198913e-01 6.32191407e-03 -7.45275813e-02 -1.06501417e+01] [-5.32188863e-03 9.99893228e-01 1.36091564e-02 9.00709613e-02] [ 7.46056598e-02 -1.31744085e-02 9.97126086e-01 9.64700350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74255784400003 meters Centerline goodness : 0.137181 with order 2 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.96 [[ 9.97187255e-01 6.52989387e-03 -7.46655097e-02 -1.06497947e+01] [-5.51431415e-03 9.99889573e-01 1.37997986e-02 8.96072768e-02] [ 7.47473758e-02 -1.33492542e-02 9.97113147e-01 9.64655201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80255784400003 meters Centerline goodness : 0.149354 with order 3 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.96 [[ 9.97232166e-01 3.68869267e-03 -7.42590087e-02 -1.06511005e+01] [-2.88744448e-03 9.99936486e-01 1.08943802e-02 8.92445564e-02] [ 7.42944782e-02 -1.06498076e-02 9.97179478e-01 9.64787264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86255784400004 meters Centerline goodness : 0.151182 with order 3 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.96 [[ 9.97212284e-01 3.64721576e-03 -7.45275650e-02 -1.06501908e+01] [-2.85828200e-03 9.99938778e-01 1.06897166e-02 9.03627841e-02] [ 7.45619900e-02 -1.04468959e-02 9.97161658e-01 9.64331277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92255784400004 meters Centerline goodness : 0.153426 with order 3 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.96 [[ 9.97234105e-01 3.63806181e-03 -7.42354648e-02 -1.06512498e+01] [-2.84432398e-03 9.99937686e-01 1.07950861e-02 8.99318684e-02] [ 7.42701121e-02 -1.05540783e-02 9.97182311e-01 9.64831488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.982557844 meters Centerline goodness : 0.151193 with order 3 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.96 [[ 9.97223384e-01 -9.54260617e-04 -7.44621511e-02 -1.06502643e+01] [ 1.43289046e-03 9.99978655e-01 6.37466980e-03 9.09061053e-02] [ 7.44544786e-02 -6.46366589e-03 9.97203466e-01 9.64146871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.042557844 meters Centerline goodness : 0.158714 with order 3 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.09, Z:0.96 [[ 9.97216303e-01 -8.73449258e-04 -7.45579080e-02 -1.06501092e+01] [ 1.36294647e-03 9.99977850e-01 6.51470175e-03 9.10066513e-02] [ 7.45505663e-02 -6.59818523e-03 9.97195406e-01 9.64263012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.102557844 meters Centerline goodness : 0.156558 with order 3 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.09, Z:0.97 [[ 9.97321406e-01 -2.80771970e-03 -7.30898801e-02 -1.06570143e+01] [ 3.18782790e-03 9.99981993e-01 5.08442284e-03 8.87902427e-02] [ 7.30742884e-02 -5.30380169e-03 9.97312397e-01 9.67647473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.162557844 meters Centerline goodness : 0.159756 with order 3 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.09, Z:0.97 [[ 9.97307628e-01 -6.87487250e-03 -7.30084288e-02 -1.06570455e+01] [ 6.99808941e-03 9.99974488e-01 1.43203809e-03 8.76612226e-02] [ 7.29967211e-02 -1.93910203e-03 9.97330296e-01 9.67474336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.222557844 meters Centerline goodness : 0.160775 with order 3 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.08, Z:0.97 [[ 9.97304614e-01 -6.56738334e-03 -7.30778744e-02 -1.06566640e+01] [ 6.74624272e-03 9.99974822e-01 2.20095352e-03 8.37162624e-02] [ 7.30615799e-02 -2.68802218e-03 9.97323809e-01 9.67308969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.282557844 meters Centerline goodness : 0.138530 with order 3 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.08, Z:0.97 [[ 9.97298026e-01 -6.36703502e-03 -7.31854356e-02 -1.06566292e+01] [ 6.55945711e-03 9.99975632e-01 2.38918793e-03 8.35050341e-02] [ 7.31684402e-02 -2.86278914e-03 9.97315489e-01 9.67595858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.342557844 meters Centerline goodness : 0.172649 with order 1 Centerline is valid? [False, False] Translation: X:-10.68, Y:0.08, Z:0.96 [[ 9.97259591e-01 1.95425470e-03 -7.39559976e-02 -1.06756137e+01] [-1.86264324e-03 9.99997410e-01 1.30768032e-03 7.73013610e-02] [ 7.39583616e-02 -1.16634310e-03 9.97260648e-01 9.64904958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.402557844 meters Centerline goodness : 0.152912 with order 3 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.07, Z:0.97 [[ 9.97280720e-01 9.82549306e-03 -7.30385170e-02 -1.06561111e+01] [-9.85283227e-03 9.99951460e-01 -1.40137352e-05 7.19776795e-02] [ 7.30348340e-02 7.33611886e-04 9.97329121e-01 9.67601997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.462557844 meters Centerline goodness : 0.134322 with order 3 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.07, Z:0.97 [[ 9.97290117e-01 1.00751834e-02 -7.28760186e-02 -1.06566885e+01] [-1.00550549e-02 9.99949240e-01 6.43079892e-04 6.86717024e-02] [ 7.28787985e-02 9.14351479e-05 9.97340801e-01 9.67874697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.522557844 meters Centerline goodness : 0.156034 with order 3 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.06, Z:0.97 [[ 9.97302288e-01 6.20904772e-03 -7.31409206e-02 -1.06562362e+01] [-6.40773506e-03 9.99976390e-01 -2.48216325e-03 6.46906511e-02] [ 7.31237818e-02 2.94413473e-03 9.97318527e-01 9.68037505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.582557844 meters Centerline goodness : 0.109021 with order 2 Centerline is valid? [False, False] Translation: X:-10.65, Y:0.06, Z:0.97 [[ 9.97279634e-01 6.54568043e-03 -7.34199292e-02 -1.06549142e+01] [-6.69246925e-03 9.99976068e-01 -1.75346817e-03 6.11426405e-02] [ 7.34066944e-02 2.24005871e-03 9.97299574e-01 9.67175509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.642557844 meters Centerline goodness : 0.115175 with order 2 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.06, Z:0.97 [[ 9.97301953e-01 6.82887569e-03 -7.30902198e-02 -1.06555190e+01] [-6.94722229e-03 9.99974936e-01 -1.36507761e-03 5.92863498e-02] [ 7.30790659e-02 1.86916857e-03 9.97324399e-01 9.66759909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.702557844 meters Centerline goodness : 0.143521 with order 3 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.06, Z:0.97 [[ 9.97309225e-01 7.37258703e-03 -7.29380162e-02 -1.06557421e+01] [-7.47506327e-03 9.99971420e-01 -1.13210135e-03 5.99369490e-02] [ 7.29275851e-02 1.67427140e-03 9.97335833e-01 9.66404812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.762557844 meters Centerline goodness : 0.159243 with order 1 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.06, Z:0.97 [[ 9.97315006e-01 7.87971748e-03 -7.28058318e-02 -1.06557008e+01] [-7.99794873e-03 9.99967128e-01 -1.33252821e-03 6.24569612e-02] [ 7.27929385e-02 1.91124769e-03 9.97345244e-01 9.65637554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.822557844 meters Centerline goodness : 0.163344 with order 1 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.06, Z:0.97 [[ 9.97318240e-01 7.84140402e-03 -7.27656589e-02 -1.06556335e+01] [-7.98160934e-03 9.99966808e-01 -1.63622280e-03 6.41546544e-02] [ 7.27504134e-02 2.21262191e-03 9.97347724e-01 9.65253794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.882557844 meters Centerline goodness : 0.160976 with order 1 Centerline is valid? [False, False] Translation: X:-10.68, Y:0.07, Z:0.96 [[ 9.97444361e-01 -2.16036609e-04 -7.14471831e-02 -1.06772123e+01] [ 1.69997898e-04 9.99999774e-01 -6.50454123e-04 6.89712744e-02] [ 7.14473075e-02 6.36645926e-04 9.97444172e-01 9.62181143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942557844 meters Centerline goodness : 0.145292 with order 3 Centerline is valid? [False, False] Translation: X:-10.66, Y:0.07, Z:0.96 [[ 9.97557550e-01 -9.36046911e-03 -6.92193376e-02 -1.06575766e+01] [ 9.34094530e-03 9.99956189e-01 -6.05734164e-04 7.36114369e-02] [ 6.92219750e-02 -4.23193576e-05 9.97601281e-01 9.64003600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002557844 meters Centerline goodness : 0.162649 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.07, Z:0.96 [[ 9.97270159e-01 -8.23882640e-03 -7.33781392e-02 -1.06971242e+01] [ 8.32830170e-03 9.99964902e-01 9.13480967e-04 6.95815358e-02] [ 7.33680377e-02 -1.52210259e-03 9.97303772e-01 9.59946427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062557844 meters Centerline goodness : 0.164324 with order 1 Centerline is valid? [False, False] Translation: X:-10.72, Y:0.07, Z:0.96 [[ 9.97230247e-01 -6.44681243e-04 -7.43735061e-02 -1.07156904e+01] [ 5.69699768e-04 9.99999308e-01 -1.02938480e-03 6.55441070e-02] [ 7.43741183e-02 9.84163089e-04 9.97229924e-01 9.56990981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122557844 meters Centerline goodness : 0.159886 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.07, Z:0.96 [[ 9.97421642e-01 7.06966115e-03 -7.14149013e-02 -1.06971331e+01] [-7.26880392e-03 9.99970384e-01 -2.52903187e-03 6.51090125e-02] [ 7.13949068e-02 3.04161204e-03 9.97443490e-01 9.59818735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18255784400003 meters Centerline goodness : 0.117832 with order 2 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.06, Z:0.96 [[ 9.97461915e-01 7.13530030e-03 -7.08436034e-02 -1.06993599e+01] [-7.32022307e-03 9.99970443e-01 -2.35101423e-03 6.46416751e-02] [ 7.08247343e-02 2.86363813e-03 9.97484665e-01 9.60937411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24255784400003 meters Centerline goodness : 0.111417 with order 2 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.06, Z:0.96 [[ 9.97447825e-01 7.13598865e-03 -7.10416350e-02 -1.06984748e+01] [-7.31580478e-03 9.99970660e-01 -2.27126361e-03 6.39913973e-02] [ 7.10233430e-02 2.78519368e-03 9.97470765e-01 9.60392276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30255784400003 meters Centerline goodness : 0.160012 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.06, Z:0.96 [[ 9.97427581e-01 7.15152675e-03 -7.13237475e-02 -1.06971596e+01] [-7.33264979e-03 9.99970521e-01 -2.27793979e-03 6.40365304e-02] [ 7.13053542e-02 2.79507204e-03 9.97450617e-01 9.59504774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36255784400004 meters Centerline goodness : 0.160040 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.06, Z:0.96 [[ 9.97413115e-01 3.32551508e-03 -7.18054185e-02 -1.06958093e+01] [-3.76175142e-03 9.99975277e-01 -5.94087944e-03 6.36457573e-02] [ 7.17838868e-02 6.19562521e-03 9.97400966e-01 9.59211059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42255784400004 meters Centerline goodness : 0.167200 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.06, Z:0.96 [[ 9.97484690e-01 1.26384310e-03 -7.08709862e-02 -1.07003360e+01] [-1.80231115e-03 9.99969992e-01 -7.53443168e-03 6.02815136e-02] [ 7.08593372e-02 7.64321182e-03 9.97457034e-01 9.61187204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.482557844 meters Centerline goodness : 0.168766 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.06, Z:0.96 [[ 9.97505208e-01 1.46185692e-03 -7.05777828e-02 -1.07011466e+01] [-1.95090040e-03 9.99974562e-01 -6.86070812e-03 5.66960149e-02] [ 7.05659581e-02 6.98128230e-03 9.97482685e-01 9.61356175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.542557844 meters Centerline goodness : 0.163851 with order 1 Centerline is valid? [False, False] Translation: X:-10.68, Y:0.06, Z:0.96 [[ 9.97513069e-01 -6.65159614e-03 -7.01671826e-02 -1.06805950e+01] [ 6.28358151e-03 9.99965329e-01 -5.46424727e-03 5.69510860e-02] [ 7.02010957e-02 5.00975685e-03 9.97520280e-01 9.62979485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.602557844 meters Centerline goodness : 0.295109 with order 2 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.04, Z:0.96 [[ 9.97348182e-01 6.50781996e-04 -7.27748548e-02 -1.06960807e+01] [-1.13278485e-03 9.99977696e-01 -6.58212829e-03 4.27832975e-02] [ 7.27689481e-02 6.64711194e-03 9.97326675e-01 9.58929247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.662557844 meters Centerline goodness : 0.151741 with order 3 Centerline is valid? [False, False] Translation: X:-10.67, Y:0.04, Z:0.96 [[ 9.97404807e-01 -8.08348776e-03 -7.15423581e-02 -1.06743521e+01] [ 7.68563573e-03 9.99953443e-01 -5.83460496e-03 4.00812276e-02] [ 7.15861913e-02 5.26961453e-03 9.97420497e-01 9.60171223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.722557844 meters Centerline goodness : 0.175114 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.03, Z:0.96 [[ 9.97628371e-01 -2.26108342e-03 -6.87933206e-02 -1.06985523e+01] [ 1.77307633e-03 9.99972838e-01 -7.15404845e-03 2.86694877e-02] [ 6.88076279e-02 7.01510589e-03 9.97605282e-01 9.58793327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.782557844 meters Centerline goodness : 0.156066 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.02, Z:0.96 [[ 9.97597514e-01 -1.97912432e-03 -6.92479879e-02 -1.06966504e+01] [ 1.55970384e-03 9.99980115e-01 -6.11033337e-03 1.86988409e-02] [ 6.92587040e-02 5.98764703e-03 9.97580764e-01 9.58011017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.842557844 meters Centerline goodness : 0.166576 with order 1 Centerline is valid? [False, False] Translation: X:-10.69, Y:0.02, Z:0.96 [[ 9.97548808e-01 -1.63351458e-03 -6.99550402e-02 -1.06940596e+01] [ 1.25446307e-03 9.99984296e-01 -5.46209086e-03 1.58159168e-02] [ 6.99628641e-02 5.36094622e-03 9.97535191e-01 9.56840133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.902557844 meters Centerline goodness : 0.167383 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.01, Z:0.96 [[ 9.97592121e-01 -1.20516938e-03 -6.93434000e-02 -1.06961953e+01] [ 8.87996522e-04 9.99989005e-01 -4.60458808e-03 1.16111987e-02] [ 6.93481869e-02 4.53192409e-03 9.97582222e-01 9.57646603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.962557844 meters Centerline goodness : 0.142091 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.01, Z:0.96 [[ 9.97618115e-01 -9.29454615e-04 -6.89726959e-02 -1.06975871e+01] [ 6.50426658e-04 9.99991515e-01 -4.06783160e-03 9.50522141e-03] [ 6.89758915e-02 4.01328081e-03 9.97610255e-01 9.58266932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.022557844 meters Centerline goodness : 0.149598 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.01, Z:0.96 [[ 9.97596075e-01 -8.01328986e-04 -6.92923511e-02 -1.06965981e+01] [ 5.64856125e-04 9.99993950e-01 -3.43220978e-03 5.89217740e-03] [ 6.92946823e-02 3.38481880e-03 9.97590492e-01 9.58113494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.082557844 meters Centerline goodness : 0.108453 with order 2 Centerline is valid? [False, False] Translation: X:-10.70, Y:0.00, Z:0.96 [[ 9.97631029e-01 -6.98023790e-04 -6.87883959e-02 -1.06982139e+01] [ 5.05312943e-04 9.99995899e-01 -2.81886289e-03 2.64478906e-03] [ 6.87900814e-02 2.77742542e-03 9.97627290e-01 9.58656370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.142557844 meters Centerline goodness : 0.173291 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.00, Z:0.96 [[ 9.97616086e-01 -5.55081224e-04 -6.90060608e-02 -1.06974682e+01] [ 4.10299987e-04 9.99997685e-01 -2.11225028e-03 -1.25155411e-03] [ 6.90070735e-02 2.07890168e-03 9.97614004e-01 9.58481436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.202557844 meters Centerline goodness : 0.144230 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.01, Z:0.96 [[ 9.97564321e-01 -4.35561682e-03 -6.96164714e-02 -1.06954789e+01] [ 3.99902802e-03 9.99978166e-01 -5.26073836e-03 -5.41459608e-03] [ 6.96378652e-02 4.96952667e-03 9.97559959e-01 9.57990474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.262557844 meters Centerline goodness : 0.169944 with order 1 Centerline is valid? [False, False] Translation: X:-10.72, Y:-0.01, Z:0.96 [[ 9.97609883e-01 4.06045283e-03 -6.89785098e-02 -1.07167797e+01] [-4.43799680e-03 9.99975995e-01 -5.32099220e-03 -1.48756669e-02] [ 6.89552483e-02 5.61440081e-03 9.97603956e-01 9.56001700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.322557844 meters Centerline goodness : 0.129370 with order 2 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.02, Z:0.96 [[ 9.97628856e-01 1.29406018e-02 -6.75959085e-02 -1.06974151e+01] [-1.33911564e-02 9.99891010e-01 -6.21653936e-03 -1.99278619e-02] [ 6.75080954e-02 7.10698643e-03 9.97693414e-01 9.58806420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.382557844 meters Centerline goodness : 0.140529 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.02, Z:0.96 [[ 9.97617682e-01 1.31801984e-02 -6.77144185e-02 -1.06967572e+01] [-1.36124500e-02 9.99889786e-01 -5.92599028e-03 -2.08408833e-02] [ 6.76288497e-02 6.83363182e-03 9.97687145e-01 9.58221926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442557844 meters Centerline goodness : 0.134673 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.03, Z:0.96 [[ 9.97680884e-01 9.24737516e-03 -6.74339615e-02 -1.06980434e+01] [-9.87830774e-03 9.99910445e-01 -9.02885985e-03 -2.54686939e-02] [ 6.73444293e-02 9.67405431e-03 9.97682886e-01 9.58843182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502557844 meters Centerline goodness : 0.140482 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.03, Z:0.96 [[ 9.97762982e-01 6.98056459e-03 -6.64853554e-02 -1.07030891e+01] [-7.69004323e-03 9.99916127e-01 -1.04212628e-02 -3.16689148e-02] [ 6.64070328e-02 1.09092255e-02 9.97732978e-01 9.61550272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562557844 meters Centerline goodness : 0.146358 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.04, Z:0.96 [[ 9.97738679e-01 7.38497180e-03 -6.68056228e-02 -1.07019658e+01] [-8.02599223e-03 9.99924246e-01 -9.33200674e-03 -3.72523874e-02] [ 6.67316453e-02 9.84708548e-03 9.97722367e-01 9.61175369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622557844 meters Centerline goodness : 0.134749 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.04, Z:0.96 [[ 9.97725286e-01 7.72567992e-03 -6.69669090e-02 -1.07012722e+01] [-8.31997295e-03 9.99928406e-01 -8.60007718e-03 -4.04679545e-02] [ 6.68956731e-02 9.13767734e-03 9.97718132e-01 9.60734626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68255784400003 meters Centerline goodness : 0.138109 with order 2 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.05, Z:0.96 [[ 9.97922465e-01 -2.14665386e-03 -6.43905689e-02 -1.06827404e+01] [ 1.60342360e-03 9.99962699e-01 -8.48697826e-03 -4.68612833e-02] [ 6.44063857e-02 8.36610091e-03 9.97888684e-01 9.63413306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74255784400003 meters Centerline goodness : 0.139025 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.05, Z:0.96 [[ 9.97911148e-01 -5.81562605e-03 -6.43390924e-02 -1.06823732e+01] [ 5.11524018e-03 9.99925916e-01 -1.10452290e-02 -5.35309052e-02] [ 6.43985608e-02 1.06930472e-02 9.97866967e-01 9.62943305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80255784400003 meters Centerline goodness : 0.141939 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.06, Z:0.96 [[ 9.97893713e-01 -9.46467015e-03 -6.41759856e-02 -1.06824362e+01] [ 8.60165355e-03 9.99869006e-01 -1.37106479e-02 -5.95261114e-02] [ 6.42973457e-02 1.31297497e-02 9.97844407e-01 9.62728776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86255784400004 meters Centerline goodness : 0.137509 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.07, Z:0.96 [[ 9.97960490e-01 -4.16818934e-03 -6.36984098e-02 -1.07045568e+01] [ 3.17077003e-03 9.99870909e-01 -1.57515401e-02 -7.35842698e-02] [ 6.37558423e-02 1.55174417e-02 9.97844879e-01 9.61116476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92255784400004 meters Centerline goodness : 0.132865 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.08, Z:0.96 [[ 9.97827490e-01 -2.62485715e-03 -6.58286395e-02 -1.06971402e+01] [ 1.68944911e-03 9.99896874e-01 -1.42613869e-02 -7.75042495e-02] [ 6.58592849e-02 1.41191897e-02 9.97729023e-01 9.58135948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.982557844 meters Centerline goodness : 0.130363 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.08, Z:0.96 [[ 9.97877991e-01 6.47136017e-03 -6.47891687e-02 -1.06772125e+01] [-7.48098617e-03 9.99854153e-01 -1.53527994e-02 -8.03339455e-02] [ 6.46803658e-02 1.58049075e-02 9.97780865e-01 9.60229168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.042557844 meters Centerline goodness : 0.126708 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.08, Z:0.96 [[ 9.97910067e-01 6.80955349e-03 -6.42582969e-02 -1.06789841e+01] [-7.78960419e-03 9.99856947e-01 -1.50135487e-02 -8.09535756e-02] [ 6.41468690e-02 1.54827181e-02 9.97820357e-01 9.60780506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.102557844 meters Centerline goodness : 0.131729 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.09, Z:0.96 [[ 9.97957087e-01 3.27739916e-03 -6.38036860e-02 -1.06793584e+01] [-4.39536182e-03 9.99839131e-01 -1.73894429e-02 -8.80120103e-02] [ 6.37364299e-02 1.76343581e-02 9.97810952e-01 9.59880939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.162557844 meters Centerline goodness : 0.229257 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.09, Z:0.96 [[ 9.97992068e-01 -4.46367325e-04 -6.33374511e-02 -1.06801913e+01] [-8.31850354e-04 9.99796556e-01 -2.01532671e-02 -9.36573909e-02] [ 6.33335612e-02 2.01654880e-02 9.97788662e-01 9.59476738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.222557844 meters Centerline goodness : 0.130562 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.10, Z:0.96 [[ 9.97961299e-01 1.62445720e-04 -6.38217819e-02 -1.06784265e+01] [-1.36591530e-03 9.99822077e-01 -1.88135422e-02 -1.00878716e-01] [ 6.38073703e-02 1.88623621e-02 9.97783960e-01 9.58776315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.282557844 meters Centerline goodness : 0.124886 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.10, Z:0.96 [[ 9.97959980e-01 5.45329579e-04 -6.38402808e-02 -1.06781393e+01] [-1.72423091e-03 9.99828984e-01 -1.84127813e-02 -1.02247888e-01] [ 6.38193220e-02 1.84852943e-02 9.97790253e-01 9.58387302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.342557844 meters Centerline goodness : 0.131210 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.10, Z:0.96 [[ 9.97958955e-01 6.73259644e-04 -6.38550715e-02 -1.06780374e+01] [-1.85438952e-03 9.99828257e-01 -1.84395786e-02 -1.01731513e-01] [ 6.38316902e-02 1.85203548e-02 9.97788811e-01 9.58252310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.402557844 meters Centerline goodness : 0.129262 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.10, Z:0.96 [[ 9.97968928e-01 1.25561109e-03 -6.36902030e-02 -1.06787410e+01] [-2.42184558e-03 9.99830756e-01 -1.82371542e-02 -1.01207962e-01] [ 6.36565251e-02 1.83543610e-02 9.97803069e-01 9.58486251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.462557844 meters Centerline goodness : 0.170803 with order 3 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.10, Z:0.96 [[ 9.97858829e-01 8.96122912e-04 -6.53984260e-02 -1.07275824e+01] [-2.06610689e-03 9.99838993e-01 -1.78246548e-02 -1.03387431e-01] [ 6.53719233e-02 1.79216093e-02 9.97700019e-01 9.58353867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.522557844 meters Centerline goodness : 0.206390 with order 3 Centerline is valid? [False, False] Translation: X:-10.71, Y:-0.10, Z:0.96 [[ 9.98083966e-01 -6.26891728e-03 -6.15556455e-02 -1.07097362e+01] [ 5.24939544e-03 9.99846592e-01 -1.67103788e-02 -9.83214487e-02] [ 6.16509583e-02 1.63552313e-02 9.97963760e-01 9.60559817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.582557844 meters Centerline goodness : 0.127190 with order 3 Centerline is valid? [False, False] Translation: X:-10.71, Y:-0.10, Z:0.96 [[ 9.98021703e-01 -6.77727048e-03 -6.25039964e-02 -1.07069472e+01] [ 5.73918004e-03 9.99842852e-01 -1.67729949e-02 -9.92793346e-02] [ 6.26078491e-02 1.63810912e-02 9.97903761e-01 9.60105440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.642557844 meters Centerline goodness : 0.144231 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.10, Z:0.96 [[ 9.97937632e-01 -7.09719820e-03 -6.37974353e-02 -1.07032103e+01] [ 6.04141174e-03 9.99841846e-01 -1.67267481e-02 -1.00618164e-01] [ 6.39060585e-02 1.63068248e-02 9.97822681e-01 9.59477842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.702557844 meters Centerline goodness : 0.128794 with order 3 Centerline is valid? [False, False] Translation: X:-10.71, Y:-0.11, Z:0.96 [[ 9.97975239e-01 -7.77497821e-03 -6.31266309e-02 -1.07056224e+01] [ 6.74841279e-03 9.99841768e-01 -1.64589663e-02 -1.05084377e-01] [ 6.32446104e-02 1.59996363e-02 9.97869797e-01 9.60625247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.762557844 meters Centerline goodness : 0.129347 with order 3 Centerline is valid? [False, False] Translation: X:-10.71, Y:-0.11, Z:0.96 [[ 9.97979145e-01 -1.17067871e-02 -6.24545998e-02 -1.07072552e+01] [ 1.04902453e-02 9.99749494e-01 -1.97712965e-02 -1.07821355e-01] [ 6.26704129e-02 1.90761775e-02 9.97851952e-01 9.60752292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.822557844 meters Centerline goodness : 0.205541 with order 2 Centerline is valid? [False, False] Translation: X:-10.71, Y:-0.11, Z:0.96 [[ 9.98052540e-01 -1.15488346e-02 -6.13004990e-02 -1.07107048e+01] [ 1.04195233e-02 9.99770652e-01 -1.87103564e-02 -1.14088642e-01] [ 6.15025226e-02 1.80351968e-02 9.97943972e-01 9.61673177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.882557844 meters Centerline goodness : 0.141963 with order 3 Centerline is valid? [False, False] Translation: X:-10.71, Y:-0.12, Z:0.96 [[ 9.98018298e-01 -1.12985503e-02 -6.19016881e-02 -1.07085907e+01] [ 1.01866190e-02 9.99781578e-01 -1.82491018e-02 -1.16404835e-01] [ 6.20943558e-02 1.75823686e-02 9.97915403e-01 9.60864024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942557844 meters Centerline goodness : 0.153756 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.12, Z:0.96 [[ 9.97845714e-01 -2.20614517e-03 -6.55672522e-02 -1.07261178e+01] [ 1.01356943e-03 9.99833556e-01 -1.82162897e-02 -1.22139407e-01] [ 6.55965267e-02 1.81105896e-02 9.97681864e-01 9.58867625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002557844 meters Centerline goodness : 0.148499 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.12, Z:0.96 [[ 9.97831811e-01 -1.76060399e-03 -6.57919230e-02 -1.07251937e+01] [ 5.72560385e-04 9.99836523e-01 -1.80720847e-02 -1.21724941e-01] [ 6.58129853e-02 1.79952311e-02 9.97669696e-01 9.58245746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062557844 meters Centerline goodness : 0.217589 with order 2 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.12, Z:0.96 [[ 9.97859151e-01 -1.63019676e-03 -6.53793259e-02 -1.07263564e+01] [ 4.49565300e-04 9.99836644e-01 -1.80688251e-02 -1.21455699e-01] [ 6.53981015e-02 1.80007502e-02 9.97696878e-01 9.58319888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122557844 meters Centerline goodness : 0.130450 with order 3 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.13, Z:0.96 [[ 9.97862715e-01 -1.37405004e-03 -6.53308008e-02 -1.07268934e+01] [ 2.43625378e-04 9.99850177e-01 -1.73079081e-02 -1.25594652e-01] [ 6.53447947e-02 1.72549999e-02 9.97713547e-01 9.58871681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18255784400003 meters Centerline goodness : 0.135167 with order 2 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.13, Z:0.96 [[ 9.97860005e-01 -1.22526606e-03 -6.53751461e-02 -1.07271178e+01] [ 1.36504961e-04 9.99861271e-01 -1.66559206e-02 -1.28979079e-01] [ 6.53864846e-02 1.66113530e-02 9.97721740e-01 9.59389764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24255784400003 meters Centerline goodness : 0.369620 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.13, Z:0.96 [[ 9.97828648e-01 -1.04275995e-03 -6.58551583e-02 -1.07257794e+01] [-8.12908237e-07 9.99874468e-01 -1.58444717e-02 -1.33308426e-01] [ 6.58634133e-02 1.58101214e-02 9.97703388e-01 9.59259658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30255784400003 meters Centerline goodness : 0.145134 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.14, Z:0.96 [[ 9.97829131e-01 -7.37321062e-04 -6.58519635e-02 -1.07259397e+01] [-2.62815298e-04 9.99884778e-01 -1.51776927e-02 -1.36342729e-01] [ 6.58555667e-02 1.51620508e-02 9.97713965e-01 9.59474770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36255784400004 meters Centerline goodness : 0.124167 with order 3 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.14, Z:0.96 [[ 9.97857752e-01 -4.08570722e-04 -6.54197171e-02 -1.07274053e+01] [-5.49396514e-04 9.99892902e-01 -1.46247428e-02 -1.38348543e-01] [ 6.54186860e-02 1.46293543e-02 9.97750659e-01 9.59995742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42255784400004 meters Centerline goodness : 0.125084 with order 2 Centerline is valid? [False, False] Translation: X:-10.72, Y:-0.14, Z:0.96 [[ 9.97795668e-01 -6.27140627e-04 -6.63582011e-02 -1.07240765e+01] [-3.32458746e-04 9.99895554e-01 -1.44488700e-02 -1.41276387e-01] [ 6.63603318e-02 1.44390813e-02 9.97691244e-01 9.58795751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.482557844 meters Centerline goodness : 0.128722 with order 3 Centerline is valid? [False, False] Translation: X:-10.72, Y:-0.15, Z:0.96 [[ 9.97777921e-01 -2.40197419e-04 -6.66270382e-02 -1.07234467e+01] [-6.56659450e-04 9.99909482e-01 -1.34386279e-02 -1.45873423e-01] [ 6.66242352e-02 1.34525175e-02 9.97687447e-01 9.58913331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.542557844 meters Centerline goodness : 0.322623 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.15, Z:0.96 [[ 9.97863766e-01 -3.12188048e-03 -6.52545591e-02 -1.07289830e+01] [ 2.09992950e-03 9.99874170e-01 -1.57237151e-02 -1.50567450e-01] [ 6.52954356e-02 1.55530956e-02 9.97744761e-01 9.61153057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.602557844 meters Centerline goodness : 0.364094 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.15, Z:0.96 [[ 9.97872124e-01 -2.79374928e-03 -6.51415313e-02 -1.07292340e+01] [ 1.81696939e-03 9.99885104e-01 -1.50491578e-02 -1.53558824e-01] [ 6.51760904e-02 1.48987749e-02 9.97762549e-01 9.61095919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.662557844 meters Centerline goodness : 0.151566 with order 1 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.16, Z:0.96 [[ 9.97847281e-01 4.58295955e-03 -6.54201840e-02 -1.07475043e+01] [-5.63783138e-03 9.99856911e-01 -1.59490676e-02 -1.63510865e-01] [ 6.53377292e-02 1.62835617e-02 9.97730338e-01 9.57052218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.722557844 meters Centerline goodness : 0.125062 with order 3 Centerline is valid? [False, False] Translation: X:-10.72, Y:-0.16, Z:0.96 [[ 9.97969418e-01 6.30999856e-04 -6.36917704e-02 -1.07249853e+01] [-1.40098773e-03 9.99926471e-01 -1.20453467e-02 -1.63559783e-01] [ 6.36794866e-02 1.21101190e-02 9.97896923e-01 9.57755295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.782557844 meters Centerline goodness : 0.316979 with order 1 Centerline is valid? [False, False] Translation: X:-10.72, Y:-0.17, Z:0.96 [[ 9.97943962e-01 4.54298711e-04 -6.40908916e-02 -1.07223074e+01] [-1.23131625e-03 9.99926219e-01 -1.20847036e-02 -1.65396214e-01] [ 6.40806729e-02 1.21387731e-02 9.97870892e-01 9.55665826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.842557844 meters Centerline goodness : 0.148718 with order 1 Centerline is valid? [False, False] Translation: X:-10.74, Y:-0.17, Z:0.96 [[ 9.97765219e-01 -7.00080247e-03 -6.64496577e-02 -1.07433724e+01] [ 6.40742656e-03 9.99937713e-01 -9.13863311e-03 -1.66952454e-01] [ 6.65094965e-02 8.69243897e-03 9.97747928e-01 9.55029740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.902557844 meters Centerline goodness : 0.140535 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.17, Z:0.96 [[ 9.97998172e-01 -5.18263375e-03 -6.30300661e-02 -1.07043121e+01] [ 4.65214662e-03 9.99952539e-01 -8.56026304e-03 -1.66164353e-01] [ 6.30714394e-02 8.24990176e-03 9.97974916e-01 9.58271215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.962557844 meters Centerline goodness : 0.123344 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.17, Z:0.96 [[ 9.97990184e-01 -5.22285282e-03 -6.31531095e-02 -1.07046410e+01] [ 4.71990263e-03 9.99955970e-01 -8.11054856e-03 -1.69484582e-01] [ 6.31926890e-02 7.79617131e-03 9.97970893e-01 9.59237577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.022557844 meters Centerline goodness : 0.161963 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.17, Z:0.96 [[ 9.97938956e-01 -5.23805457e-03 -6.39562546e-02 -1.07019233e+01] [ 4.73525819e-03 9.99956703e-01 -8.01061865e-03 -1.70032373e-01] [ 6.39954455e-02 7.69125903e-03 9.97920552e-01 9.58288522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.082557844 meters Centerline goodness : 0.186402 with order 3 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.18, Z:0.96 [[ 9.97777410e-01 -8.93546401e-03 -6.60333007e-02 -1.07474927e+01] [ 8.36068703e-03 9.99924766e-01 -8.97557895e-03 -1.75766168e-01] [ 6.61085337e-02 8.40354616e-03 9.97777050e-01 9.56746439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.142557844 meters Centerline goodness : 0.165467 with order 3 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.18, Z:0.96 [[ 9.97852917e-01 -9.26199774e-03 -6.48364944e-02 -1.07508316e+01] [ 8.73227638e-03 9.99926180e-01 -8.44873813e-03 -1.77445251e-01] [ 6.49099604e-02 7.86442781e-03 9.97860134e-01 9.56285551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.202557844 meters Centerline goodness : 0.351375 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.18, Z:0.95 [[ 9.98116715e-01 -6.73452312e-03 -6.09726904e-02 -1.07281564e+01] [ 6.12408034e-03 9.99929296e-01 -1.01930881e-02 -1.78895331e-01] [ 6.10370249e-02 9.80049000e-03 9.98087387e-01 9.54091169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.262557844 meters Centerline goodness : 0.141139 with order 2 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.19, Z:0.95 [[ 9.98185852e-01 1.57869449e-03 -6.01873152e-02 -1.07458779e+01] [-2.28743429e-03 9.99928837e-01 -1.17084870e-02 -1.85289486e-01] [ 6.01645479e-02 1.18249206e-02 9.98118429e-01 9.51877082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.322557844 meters Centerline goodness : 0.127348 with order 2 Centerline is valid? [False, False] Translation: X:-10.75, Y:-0.19, Z:0.95 [[ 9.98186349e-01 1.35925806e-03 -6.01844215e-02 -1.07458897e+01] [-2.07456188e-03 9.99927938e-01 -1.18243097e-02 -1.85020903e-01] [ 6.01640122e-02 1.19277208e-02 9.98117238e-01 9.51828073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.382557844 meters Centerline goodness : 0.078191 with order 1 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.18, Z:0.95 [[ 9.98180172e-01 -6.45045397e-03 -5.99561108e-02 -1.07261403e+01] [ 5.79037951e-03 9.99920775e-01 -1.11765240e-02 -1.79044832e-01] [ 6.00234545e-02 1.08090161e-02 9.98138442e-01 9.54577863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442557844 meters Centerline goodness : 0.226201 with order 3 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.18, Z:0.95 [[ 9.98227967e-01 -6.99273232e-03 -5.90933824e-02 -1.07290344e+01] [ 6.34792361e-03 9.99918328e-01 -1.10923813e-02 -1.79515293e-01] [ 5.91661222e-02 1.06976050e-02 9.98190829e-01 9.54538808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502557844 meters Centerline goodness : 0.129391 with order 3 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.18, Z:0.95 [[ 9.98237459e-01 -7.23281035e-03 -5.89038328e-02 -1.07292903e+01] [ 6.60490619e-03 9.99919350e-01 -1.08475495e-02 -1.80296299e-01] [ 5.89775405e-02 1.04393760e-02 9.98204723e-01 9.53488890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562557844 meters Centerline goodness : 0.252181 with order 3 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.18, Z:0.95 [[ 9.98239890e-01 -8.58528971e-03 -5.86806227e-02 -1.07302292e+01] [ 7.91643336e-03 9.99901134e-01 -1.16212358e-02 -1.81264979e-01] [ 5.87745928e-02 1.11362399e-02 9.98209162e-01 9.53972982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622557844 meters Centerline goodness : 0.224406 with order 3 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.18, Z:0.95 [[ 9.98199830e-01 -8.79038528e-03 -5.93281497e-02 -1.07284211e+01] [ 8.13270563e-03 9.99902878e-01 -1.13178342e-02 -1.83206900e-01] [ 5.94218757e-02 1.08149618e-02 9.98174372e-01 9.53567701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68255784400003 meters SLAMing on 292.74255784400003 meters Centerline goodness : 0.131093 with order 3 Centerline is valid? [False, False] Translation: X:-10.67, Y:-0.18, Z:0.96 [[ 0.99797594 -0.01767832 -0.06108605 -10.6703333 ] [ 0.01698367 0.99978528 -0.01187216 -0.18331902] [ 0.06128282 0.01081066 0.99806189 0.95937155] [ 0. 0. 0. 1. ]] SLAMing on 292.80255784400003 meters Centerline goodness : 0.231596 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.19, Z:0.96 [[ 9.98123433e-01 -8.03759639e-03 -6.07042852e-02 -1.06838796e+01] [ 7.35471419e-03 9.99907234e-01 -1.14643999e-02 -1.91447387e-01] [ 6.07908001e-02 1.09964235e-02 9.98089955e-01 9.55420791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86255784400004 meters Centerline goodness : 0.203295 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.19, Z:0.96 [[ 9.98090100e-01 -8.32679452e-03 -6.12112400e-02 -1.06827764e+01] [ 7.68009619e-03 9.99912263e-01 -1.07927233e-02 -1.94916989e-01] [ 6.12957383e-02 1.03020021e-02 9.98066481e-01 9.55703638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92255784400004 meters Centerline goodness : 0.237913 with order 3 Centerline is valid? [False, False] Translation: X:-10.68, Y:-0.20, Z:0.96 [[ 9.98058996e-01 -4.95996268e-03 -6.20776913e-02 -1.06810680e+01] [ 4.52079444e-03 9.99963767e-01 -7.21295209e-03 -1.95906985e-01] [ 6.21112180e-02 6.91831124e-03 9.98045256e-01 9.56182634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.982557844 meters SLAMing on 293.042557844 meters Centerline goodness : 0.135440 with order 3 Centerline is valid? [False, False] Translation: X:-10.64, Y:-0.19, Z:0.96 [[ 9.98124809e-01 -8.81912275e-04 -6.12052998e-02 -1.06422728e+01] [ 5.33877949e-04 9.99983598e-01 -5.70246344e-03 -1.85963985e-01] [ 6.12093250e-02 5.65909407e-03 9.98108908e-01 9.60388461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.102557844 meters Centerline goodness : 0.133107 with order 3 Centerline is valid? [False, False] Translation: X:-10.64, Y:-0.18, Z:0.96 [[ 9.98114399e-01 -1.10720440e-03 -6.13711709e-02 -1.06411325e+01] [ 7.44645608e-04 9.99982139e-01 -5.93019672e-03 -1.84495009e-01] [ 6.13766407e-02 5.87331497e-03 9.98097396e-01 9.59349310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.162557844 meters Centerline goodness : 0.230666 with order 3 Centerline is valid? [False, False] Translation: X:-10.64, Y:-0.18, Z:0.96 [[ 9.98092365e-01 -2.71826582e-03 -6.16785452e-02 -1.06398852e+01] [ 2.30267785e-03 9.99974174e-01 -6.80804699e-03 -1.83674754e-01] [ 6.16954584e-02 6.65303390e-03 9.98072847e-01 9.58913200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.222557844 meters Centerline goodness : 0.229070 with order 3 Centerline is valid? [False, False] Translation: X:-10.64, Y:-0.18, Z:0.96 [[ 9.98066457e-01 -3.32105608e-03 -6.20670517e-02 -1.06386667e+01] [ 2.90374560e-03 9.99972578e-01 -6.81253435e-03 -1.83450124e-01] [ 6.20879746e-02 6.61913509e-03 9.98048732e-01 9.58594938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.282557844 meters Centerline goodness : 0.230550 with order 3 Centerline is valid? [False, False] Translation: X:-10.64, Y:-0.18, Z:0.96 [[ 9.98125092e-01 -4.08054064e-03 -6.10708529e-02 -1.06413126e+01] [ 3.64423226e-03 9.99967049e-01 -7.25397635e-03 -1.81944721e-01] [ 6.10984408e-02 7.01781944e-03 9.98107074e-01 9.58826989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.342557844 meters Centerline goodness : 0.124047 with order 3 Centerline is valid? [False, False] Translation: X:-10.64, Y:-0.18, Z:0.96 [[ 9.98135545e-01 -4.19637726e-03 -6.08919111e-02 -1.06419343e+01] [ 3.75936387e-03 9.99966363e-01 -7.28966125e-03 -1.81682017e-01] [ 6.09204531e-02 7.04715515e-03 9.98117747e-01 9.58987061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.402557844 meters Centerline goodness : 0.137770 with order 2 Centerline is valid? [False, False] Translation: X:-10.64, Y:-0.18, Z:0.96 [[ 9.98090976e-01 -4.28404145e-03 -6.16120926e-02 -1.06397045e+01] [ 3.85152615e-03 9.99967114e-01 -7.13702544e-03 -1.82488080e-01] [ 6.16406418e-02 6.88610010e-03 9.98074653e-01 9.58379575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.462557844 meters Centerline goodness : 0.227163 with order 3 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.18, Z:0.96 [[ 9.97903907e-01 -4.96879658e-03 -6.45221204e-02 -1.06873369e+01] [ 4.55761625e-03 9.99968369e-01 -6.51832808e-03 -1.79492192e-01] [ 6.45524678e-02 6.21059799e-03 9.97894988e-01 9.58918437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.522557844 meters Centerline goodness : 0.162352 with order 1 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.17, Z:0.96 [[ 9.98014464e-01 9.39951320e-04 -6.29781347e-02 -1.06935163e+01] [-1.05841756e-03 9.99997733e-01 -1.84773403e-03 -1.71332375e-01] [ 6.29762551e-02 1.91072246e-03 9.98013197e-01 9.61477701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.582557844 meters Centerline goodness : 0.229615 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.16, Z:0.96 [[ 9.98080801e-01 2.49724527e-03 -6.18747015e-02 -1.06973479e+01] [-2.57761178e-03 9.99995935e-01 -1.21907201e-03 -1.63041676e-01] [ 6.18714056e-02 1.37622132e-03 9.98083180e-01 9.62605165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.642557844 meters Centerline goodness : 0.134330 with order 3 Centerline is valid? [False, False] Translation: X:-10.70, Y:-0.16, Z:0.96 [[ 9.98078463e-01 2.04094357e-03 -6.19291243e-02 -1.06970420e+01] [-2.16779194e-03 9.99995688e-01 -1.98116274e-03 -1.58559091e-01] [ 6.19248138e-02 2.11160532e-03 9.98078583e-01 9.62402780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.702557844 meters Centerline goodness : 0.212084 with order 3 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.16, Z:0.96 [[ 9.97990492e-01 5.30314868e-04 -6.33616337e-02 -1.06926005e+01] [-7.09341127e-04 9.99995820e-01 -2.80300615e-03 -1.57353533e-01] [ 6.33598823e-02 2.84231850e-03 9.97986697e-01 9.61155030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.762557844 meters Centerline goodness : 0.210807 with order 3 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.16, Z:0.96 [[ 9.97983719e-01 -8.54622383e-04 -6.34646781e-02 -1.06924325e+01] [ 6.42267694e-04 9.99994128e-01 -3.36635540e-03 -1.58682766e-01] [ 6.34671823e-02 3.31880657e-03 9.97978408e-01 9.61115548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.822557844 meters Centerline goodness : 0.217552 with order 3 Centerline is valid? [False, False] Translation: X:-10.69, Y:-0.16, Z:0.96 [[ 9.97966717e-01 -9.61841709e-04 -6.37299465e-02 -1.06912787e+01] [ 7.59300645e-04 9.99994584e-01 -3.20225796e-03 -1.59519342e-01] [ 6.37326814e-02 3.14735667e-03 9.97962043e-01 9.60302245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.882557844 meters Centerline goodness : 0.103073 with order 2 Centerline is valid? [False, False] Translation: X:-10.73, Y:-0.16, Z:0.96 [[ 9.97736531e-01 -1.32231360e-03 -6.72314402e-02 -1.07344484e+01] [ 1.14351274e-03 9.99995707e-01 -2.69789687e-03 -1.55530870e-01] [ 6.72347190e-02 2.61491026e-03 9.97733759e-01 9.58780174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942557844 meters Centerline goodness : 0.226183 with order 3 Centerline is valid? [False, False] Translation: X:-10.74, Y:-0.15, Z:0.96 [[ 9.97814341e-01 1.06137714e-03 -6.60712843e-02 -1.07400419e+01] [-1.12702686e-03 9.99998908e-01 -9.56354668e-04 -1.51264548e-01] [ 6.60701971e-02 1.02872851e-03 9.97814447e-01 9.61608850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002557844 meters Centerline goodness : 0.195513 with order 3 Centerline is valid? [False, False] Translation: X:-10.78, Y:-0.14, Z:0.96 [[ 9.97956571e-01 3.23100815e-03 -6.38141269e-02 -1.07832949e+01] [-3.20016810e-03 9.99994708e-01 5.85485875e-04 -1.44169361e-01] [ 6.38156809e-02 -3.80073543e-04 9.97961630e-01 9.58682684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062557844 meters Centerline goodness : 0.226632 with order 3 Centerline is valid? [False, False] Translation: X:-10.78, Y:-0.14, Z:0.96 [[ 9.97871055e-01 3.25055417e-03 -6.51367106e-02 -1.07793391e+01] [-3.25534196e-03 9.99994701e-01 3.26301977e-05 -1.40271448e-01] [ 6.51364715e-02 1.79481538e-04 9.97876349e-01 9.57766783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122557844 meters Centerline goodness : 0.219785 with order 3 Centerline is valid? [False, False] Translation: X:-10.78, Y:-0.14, Z:0.96 [[ 9.97884273e-01 3.26034979e-03 -6.49334046e-02 -1.07802080e+01] [-3.25598948e-03 9.99994684e-01 1.72973500e-04 -1.40388212e-01] [ 6.49336234e-02 3.88149469e-05 9.97889585e-01 9.58211149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18255784400003 meters Centerline goodness : 0.221018 with order 3 Centerline is valid? [False, False] Translation: X:-10.83, Y:-0.14, Z:0.96 [[ 9.97781830e-01 1.97126242e-03 -6.65397112e-02 -1.08277337e+01] [-1.95055332e-03 9.99998027e-01 3.76194288e-04 -1.38098259e-01] [ 6.65403215e-02 -2.45570570e-04 9.97783707e-01 9.57554038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24255784400003 meters Centerline goodness : 0.220999 with order 3 Centerline is valid? [False, False] Translation: X:-10.83, Y:-0.14, Z:0.96 [[ 9.97773158e-01 1.78098972e-03 -6.66749877e-02 -1.08270759e+01] [-1.77203766e-03 9.99998411e-01 1.93405142e-04 -1.37271358e-01] [ 6.66752263e-02 -7.48238703e-05 9.97774728e-01 9.57013956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30255784400003 meters Centerline goodness : 0.112316 with order 1 Centerline is valid? [False, False] Translation: X:-10.83, Y:-0.14, Z:0.96 [[ 9.97747389e-01 1.44989506e-03 -6.70674651e-02 -1.08256335e+01] [-1.47236863e-03 9.99998875e-01 -2.85660534e-04 -1.35059076e-01] [ 6.70669755e-02 3.83765083e-04 9.97748402e-01 9.56396640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36255784400004 meters Centerline goodness : 0.228526 with order 3 Centerline is valid? [False, False] Translation: X:-10.83, Y:-0.13, Z:0.96 [[ 9.97759563e-01 1.15766941e-03 -6.68918124e-02 -1.08263435e+01] [-1.22757617e-03 9.99998743e-01 -1.00397800e-03 -1.30910949e-01] [ 6.68905660e-02 1.08384344e-03 9.97759729e-01 9.56726817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42255784400004 meters Centerline goodness : 0.228410 with order 3 Centerline is valid? [False, False] Translation: X:-10.83, Y:-0.13, Z:0.96 [[ 9.97771511e-01 1.05998135e-03 -6.67149784e-02 -1.08269716e+01] [-1.14164439e-03 9.99998645e-01 -1.18594567e-03 -1.29898576e-01] [ 6.67136309e-02 1.25946758e-03 9.97771369e-01 9.56958014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.482557844 meters Centerline goodness : 0.239954 with order 3 Centerline is valid? [False, False] Translation: X:-10.85, Y:-0.12, Z:0.95 [[ 9.97661611e-01 -8.31700308e-03 -6.78390560e-02 -1.08465363e+01] [ 8.26683862e-03 9.99965309e-01 -1.02016475e-03 -1.20631239e-01] [ 6.78451873e-02 4.56964681e-04 9.97695756e-01 9.54909254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.542557844 meters Centerline goodness : 0.101364 with order 1 Centerline is valid? [False, False] Translation: X:-10.85, Y:-0.12, Z:0.95 [[ 9.97664377e-01 -4.56901524e-03 -6.81536065e-02 -1.08454792e+01] [ 4.74271075e-03 9.99985904e-01 2.38700101e-03 -1.18724738e-01] [ 6.81417396e-02 -2.70465872e-03 9.97671984e-01 9.54444203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.602557844 meters Centerline goodness : 0.104151 with order 1 Centerline is valid? [False, False] Translation: X:-10.85, Y:-0.11, Z:0.96 [[ 9.97724418e-01 -3.04316856e-03 -6.73552188e-02 -1.08495502e+01] [ 3.24909606e-03 9.99990376e-01 2.94800014e-03 -1.10877071e-01] [ 6.73455993e-02 -3.16013530e-03 9.97724703e-01 9.56614330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.662557844 meters Centerline goodness : 0.104752 with order 1 Centerline is valid? [False, False] Translation: X:-10.85, Y:-0.11, Z:0.96 [[ 9.97658625e-01 -4.28664578e-04 -6.83892112e-02 -1.08455333e+01] [ 7.81514144e-04 9.99986522e-01 5.13276173e-03 -1.06311042e-01] [ 6.83860892e-02 -5.17419115e-03 9.97645513e-01 9.55142092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.722557844 meters Centerline goodness : 0.243283 with order 3 Centerline is valid? [False, False] Translation: X:-10.85, Y:-0.10, Z:0.96 [[ 9.97723881e-01 9.98003559e-04 -6.74244801e-02 -1.08493394e+01] [-5.95854003e-04 9.99981916e-01 5.98429150e-03 -1.00485756e-01] [ 6.74292331e-02 -5.93049540e-03 9.97706434e-01 9.56436209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.782557844 meters Centerline goodness : 0.232960 with order 3 Centerline is valid? [False, False] Translation: X:-10.85, Y:-0.09, Z:0.96 [[ 9.97786080e-01 3.01241306e-03 -6.64369154e-02 -1.08533463e+01] [-2.55672307e-03 9.99972629e-01 6.94294602e-03 -9.13582452e-02] [ 6.64560119e-02 -6.75771410e-03 9.97766472e-01 9.57926455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.842557844 meters Centerline goodness : 0.119446 with order 1 Centerline is valid? [False, False] Translation: X:-10.85, Y:-0.09, Z:0.96 [[ 9.97752190e-01 2.64208530e-03 -6.69595858e-02 -1.08511581e+01] [-2.25195029e-03 9.99980052e-01 5.90123521e-03 -8.57358676e-02] [ 6.69738416e-02 -5.73718070e-03 9.97738237e-01 9.56850903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.902557844 meters Centerline goodness : 0.123784 with order 2 Centerline is valid? [False, False] Translation: X:-10.85, Y:-0.08, Z:0.96 [[ 9.97762512e-01 2.24451842e-03 -6.68201444e-02 -1.08514237e+01] [-1.92714195e-03 9.99986557e-01 4.81379167e-03 -8.02893654e-02] [ 6.68300508e-02 -4.67424897e-03 9.97753424e-01 9.56851211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.962557844 meters SLAMing on 295.022557844 meters Centerline goodness : 0.297004 with order 1 Centerline is valid? [False, False] Translation: X:-10.90, Y:-0.06, Z:0.96 [[ 9.97595197e-01 2.52012415e-03 -6.92637794e-02 -1.08973658e+01] [-2.19088494e-03 9.99985940e-01 4.82896586e-03 -6.20433037e-02] [ 6.92749752e-02 -4.66560418e-03 9.97586693e-01 9.55846903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.082557844 meters Centerline goodness : 0.313329 with order 1 Centerline is valid? [False, False] Translation: X:-10.90, Y:-0.06, Z:0.96 [[ 9.97642218e-01 4.70187603e-03 -6.84682213e-02 -1.09010786e+01] [-4.26173796e-03 9.99969316e-01 6.57300625e-03 -5.71145777e-02] [ 6.84970259e-02 -6.26571492e-03 9.97631645e-01 9.57447913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.142557844 meters Centerline goodness : 0.168947 with order 1 Centerline is valid? [False, False] Translation: X:-10.90, Y:-0.05, Z:0.96 [[ 9.97635632e-01 4.08024807e-03 -6.86039177e-02 -1.09008828e+01] [-3.72325367e-03 9.99978860e-01 5.33076391e-03 -5.17053885e-02] [ 6.86242182e-02 -5.06273024e-03 9.97629734e-01 9.57835148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.202557844 meters Centerline goodness : 0.286858 with order 1 Centerline is valid? [False, False] Translation: X:-10.90, Y:-0.05, Z:0.96 [[ 9.97655552e-01 3.69837678e-03 -6.83353605e-02 -1.09018713e+01] [-3.39680117e-03 9.99983976e-01 4.52884077e-03 -4.81176292e-02] [ 6.83510148e-02 -4.28610151e-03 9.97652128e-01 9.58357905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.262557844 meters Centerline goodness : 0.176788 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.04, Z:0.96 [[ 9.97763643e-01 -4.07172525e-03 -6.67168219e-02 -1.08832797e+01] [ 4.46887186e-03 9.99973168e-01 5.80456118e-03 -4.26000193e-02] [ 6.66913971e-02 -6.08972904e-03 9.97755067e-01 9.61245989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.322557844 meters Centerline goodness : 0.175118 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.04, Z:0.96 [[ 9.97756373e-01 -4.57193719e-03 -6.67930939e-02 -1.08830415e+01] [ 4.95110258e-03 9.99972550e-01 5.51228338e-03 -4.25005946e-02] [ 6.67660586e-02 -5.83061534e-03 9.97751621e-01 9.61062197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.382557844 meters Centerline goodness : 0.262172 with order 3 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.04, Z:0.96 [[ 9.97711980e-01 -4.73663570e-03 -6.74416047e-02 -1.08808744e+01] [ 5.11826135e-03 9.99971848e-01 5.48694407e-03 -4.25330030e-02] [ 6.74137164e-02 -5.81957359e-03 9.97708135e-01 9.60222034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442557844 meters Centerline goodness : 0.175725 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.04, Z:0.96 [[ 9.97697931e-01 -4.79733416e-03 -6.76448433e-02 -1.08801400e+01] [ 5.16903791e-03 9.99972484e-01 5.32097143e-03 -4.16444059e-02] [ 6.76174555e-02 -5.65838094e-03 9.97695275e-01 9.59937287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502557844 meters Centerline goodness : 0.171270 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.04, Z:0.96 [[ 9.97686284e-01 -8.22218062e-04 -6.79809011e-02 -1.08793771e+01] [ 1.44624416e-03 9.99957268e-01 9.13072681e-03 -4.19638840e-02] [ 6.79704887e-02 -9.20791789e-03 9.97644840e-01 9.59898734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562557844 meters Centerline goodness : 0.165988 with order 1 Centerline is valid? [False, False] Translation: X:-10.88, Y:-0.04, Z:0.96 [[ 9.97710680e-01 -8.73414927e-04 -6.76212720e-02 -1.08806148e+01] [ 1.48926632e-03 9.99957871e-01 9.05748681e-03 -4.19668093e-02] [ 6.76105123e-02 -9.13745740e-03 9.97669948e-01 9.60379768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622557844 meters Centerline goodness : 0.161163 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.04, Z:0.96 [[ 9.97605684e-01 -1.14605365e-03 -6.91490083e-02 -1.09294227e+01] [ 1.78996873e-03 9.99955609e-01 9.25075034e-03 -3.87568078e-02] [ 6.91353369e-02 -9.35237569e-03 9.97563451e-01 9.59741167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68255784400003 meters Centerline goodness : 0.178907 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.04, Z:0.96 [[ 9.97597086e-01 -1.11761796e-03 -6.92734138e-02 -1.09284459e+01] [ 1.75428884e-03 9.99956777e-01 9.13054158e-03 -3.75567554e-02] [ 6.92602151e-02 -9.23012725e-03 9.97555927e-01 9.58872803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74255784400003 meters Centerline goodness : 0.166565 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.04, Z:0.96 [[ 9.97606548e-01 -1.26079443e-03 -6.91345458e-02 -1.09288575e+01] [ 1.88393578e-03 9.99958182e-01 8.94899876e-03 -3.72826604e-02] [ 6.91203719e-02 -9.05782481e-03 9.97567206e-01 9.58892004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80255784400003 meters Centerline goodness : 0.175227 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.04, Z:0.96 [[ 9.97597129e-01 -1.25079024e-03 -6.92705142e-02 -1.09285033e+01] [ 1.89113306e-03 9.99956081e-01 9.17928221e-03 -3.82835544e-02] [ 6.92559906e-02 -9.28822533e-03 9.97555681e-01 9.58729309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86255784400004 meters Centerline goodness : 0.171988 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.04, Z:0.96 [[ 9.97567880e-01 -1.62838188e-03 -6.96826538e-02 -1.09272598e+01] [ 2.28918314e-03 9.99953159e-01 9.40420503e-03 -4.05397524e-02] [ 6.96640762e-02 -9.54084923e-03 9.97524881e-01 9.58272731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92255784400004 meters Centerline goodness : 0.165583 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.04, Z:0.96 [[ 9.97602063e-01 -2.48263686e-03 -6.91661747e-02 -1.09285418e+01] [ 3.12222502e-03 9.99953350e-01 9.14055281e-03 -4.18601617e-02] [ 6.91402554e-02 -9.33458670e-03 9.97563276e-01 9.57966290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.982557844 meters Centerline goodness : 0.169123 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.04, Z:0.95 [[ 9.97637753e-01 5.35231337e-03 -6.84855197e-02 -1.09488722e+01] [-4.81000116e-03 9.99955779e-01 8.08109412e-03 -4.45990712e-02] [ 6.85257438e-02 -7.73258915e-03 9.97619381e-01 9.54819815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.042557844 meters Centerline goodness : 0.169578 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.04, Z:0.95 [[ 9.97640820e-01 5.28133173e-03 -6.84463421e-02 -1.09490637e+01] [-4.74607897e-03 9.99956894e-01 7.98029433e-03 -4.43530360e-02] [ 6.84855383e-02 -7.63661564e-03 9.97622881e-01 9.54948319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.102557844 meters Centerline goodness : 0.166275 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.04, Z:0.95 [[ 9.97613891e-01 5.21890850e-03 -6.88424853e-02 -1.09471770e+01] [-4.69239943e-03 9.99958511e-01 7.80752059e-03 -4.31657908e-02] [ 6.88803758e-02 -7.46585455e-03 9.97596990e-01 9.53658837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.162557844 meters Centerline goodness : 0.170955 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.04, Z:0.95 [[ 9.97611354e-01 5.17170211e-03 -6.88827983e-02 -1.09469639e+01] [-4.65163470e-03 9.99959471e-01 7.70829480e-03 -4.27840660e-02] [ 6.89198716e-02 -7.36946480e-03 9.97594979e-01 9.53549013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.222557844 meters Centerline goodness : 0.166714 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.04, Z:0.95 [[ 9.97607942e-01 5.07932136e-03 -6.89390664e-02 -1.09470236e+01] [-4.57301279e-03 9.99961417e-01 7.50012350e-03 -4.19919270e-02] [ 6.89745021e-02 -7.16692353e-03 9.97592679e-01 9.53868013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.282557844 meters Centerline goodness : 0.170742 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.04, Z:0.95 [[ 9.97641134e-01 5.12611785e-03 -6.84535630e-02 -1.09484850e+01] [-4.64859944e-03 9.99963753e-01 7.13327406e-03 -3.95496027e-02] [ 6.84876477e-02 -6.79823443e-03 9.97628802e-01 9.54353518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.342557844 meters Centerline goodness : 0.162350 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.04, Z:0.95 [[ 9.97651677e-01 5.04469589e-03 -6.83058036e-02 -1.09491510e+01] [-4.59175761e-03 9.99966430e-01 6.78641990e-03 -3.77788576e-02] [ 6.83377460e-02 -6.45683950e-03 9.97641349e-01 9.54885289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.402557844 meters Centerline goodness : 0.174282 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.04, Z:0.96 [[ 9.97656443e-01 4.96940098e-03 -6.82416799e-02 -1.09493779e+01] [-4.53482085e-03 9.99968451e-01 6.52168811e-03 -3.63034549e-02] [ 6.82719359e-02 -6.19694037e-03 9.97647503e-01 9.55058555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.462557844 meters Centerline goodness : 0.162890 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.04, Z:0.96 [[ 9.97645899e-01 1.34252791e-02 -6.72489527e-02 -1.09294326e+01] [-1.30837986e-02 9.99899190e-01 5.51573947e-03 -4.05406037e-02] [ 6.73162237e-02 -4.62288311e-03 9.97720981e-01 9.57113155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.522557844 meters Centerline goodness : 0.157275 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.04, Z:0.96 [[ 9.97649665e-01 1.34278302e-02 -6.71925503e-02 -1.09296653e+01] [-1.31048910e-02 9.99900373e-01 5.24466386e-03 -3.88659194e-02] [ 6.72562805e-02 -4.35178610e-03 9.97726242e-01 9.57358712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.582557844 meters Centerline goodness : 0.163801 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:-0.04, Z:0.96 [[ 9.97599591e-01 1.35112036e-02 -6.79154094e-02 -1.09275265e+01] [-1.31872914e-02 9.99899442e-01 5.21543484e-03 -3.80726934e-02] [ 6.79790468e-02 -4.30729537e-03 9.97677451e-01 9.56993341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.642557844 meters Centerline goodness : 0.127229 with order 2 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.03, Z:0.96 [[ 9.97432756e-01 1.29716141e-02 -7.04246668e-02 -1.09731798e+01] [-1.26730419e-02 9.99908719e-01 4.68476401e-03 -3.35995543e-02] [ 7.04790073e-02 -3.78024232e-03 9.97506100e-01 9.55473188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.702557844 meters Centerline goodness : 0.162315 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:-0.03, Z:0.96 [[ 9.97660441e-01 5.02547084e-03 -6.81790888e-02 -1.09542478e+01] [-4.63993180e-03 9.99972346e-01 5.81197922e-03 -3.19975664e-02] [ 6.82064113e-02 -5.48203543e-03 9.97656170e-01 9.57689181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.762557844 meters Centerline goodness : 0.157703 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.03, Z:0.96 [[ 9.97609935e-01 -3.33082173e-03 -6.90168257e-02 -1.09738892e+01] [ 3.83244525e-03 9.99967187e-01 7.13699906e-03 -2.81675453e-02] [ 6.89907890e-02 -7.38444437e-03 9.97589966e-01 9.55554322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.822557844 meters Centerline goodness : 0.166095 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.03, Z:0.96 [[ 9.97588049e-01 -3.32639088e-03 -6.93326676e-02 -1.09732180e+01] [ 3.88109385e-03 9.99961520e-01 7.86743088e-03 -3.30340625e-02] [ 6.93038295e-02 -8.11754161e-03 9.97562572e-01 9.55492356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.882557844 meters Centerline goodness : 0.162433 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.04, Z:0.96 [[ 9.97615382e-01 -3.10632990e-03 -6.89485342e-02 -1.09746269e+01] [ 3.69468917e-03 9.99957831e-01 8.40742804e-03 -3.58184688e-02] [ 6.89195105e-02 -8.64212294e-03 9.97584791e-01 9.56039657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942557844 meters Centerline goodness : 0.162484 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.04, Z:0.96 [[ 9.97587695e-01 -2.77080285e-03 -6.93621861e-02 -1.09736044e+01] [ 3.39788619e-03 9.99954404e-01 8.92435740e-03 -3.77696984e-02] [ 6.93342959e-02 -9.13851395e-03 9.97551624e-01 9.56108032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002557844 meters Centerline goodness : 0.153926 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.04, Z:0.96 [[ 9.97580003e-01 -2.57448629e-03 -6.94802761e-02 -1.09733245e+01] [ 3.21240113e-03 9.99953697e-01 9.07106412e-03 -3.82744205e-02] [ 6.94537057e-02 -9.27231070e-03 9.97542083e-01 9.56190193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062557844 meters Centerline goodness : 0.278447 with order 1 Centerline is valid? [False, False] Translation: X:-10.98, Y:-0.04, Z:0.96 [[ 9.97617830e-01 -2.20758946e-03 -6.89477470e-02 -1.09752686e+01] [ 2.87671250e-03 9.99949714e-01 9.60700328e-03 -4.06062020e-02] [ 6.89230716e-02 -9.78246061e-03 9.97574014e-01 9.56924943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122557844 meters Centerline goodness : 0.156756 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.04, Z:0.96 [[ 9.97603389e-01 -2.00237402e-03 -6.91626199e-02 -1.09745471e+01] [ 2.71109460e-03 9.99944763e-01 1.01548169e-02 -4.32229470e-02] [ 6.91384658e-02 -1.03179862e-02 9.97553714e-01 9.56585762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18255784400003 meters Centerline goodness : 0.102174 with order 1 Centerline is valid? [False, False] Translation: X:-10.99, Y:-0.05, Z:0.95 [[ 9.97685861e-01 4.66554840e-03 -6.78318128e-02 -1.09930650e+01] [-4.07801095e-03 9.99952985e-01 8.79757092e-03 -4.96008947e-02] [ 6.78696692e-02 -8.50059325e-03 9.97657981e-01 9.52760531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24255784400003 meters Centerline goodness : 0.160721 with order 1 Centerline is valid? [False, False] Translation: X:-10.98, Y:-0.05, Z:0.96 [[ 9.97873580e-01 -2.55970267e-03 -6.51288380e-02 -1.09756552e+01] [ 3.28159710e-03 9.99934338e-01 1.09795365e-02 -4.96990495e-02] [ 6.50964572e-02 -1.11699160e-02 9.97816458e-01 9.55576851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30255784400003 meters Centerline goodness : 0.287303 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:-0.05, Z:0.95 [[ 9.97860174e-01 -2.48730357e-03 -6.53367201e-02 -1.09747298e+01] [ 3.23834285e-03 9.99929871e-01 1.13915149e-02 -5.22927924e-02] [ 6.53038039e-02 -1.15787217e-02 9.97798249e-01 9.54944971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36255784400004 meters Centerline goodness : 0.100427 with order 1 Centerline is valid? [False, False] Translation: X:-10.99, Y:-0.06, Z:0.95 [[ 9.98007330e-01 3.74239202e-03 -6.29870160e-02 -1.09941548e+01] [-3.11982060e-03 9.99945336e-01 9.97957454e-03 -5.96838800e-02] [ 6.30209203e-02 -9.76318035e-03 9.97964450e-01 9.50615283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42255784400004 meters Centerline goodness : 0.100039 with order 1 Centerline is valid? [False, False] Translation: X:-11.00, Y:-0.07, Z:0.95 [[ 9.98025940e-01 4.18417724e-03 -6.26635059e-02 -1.09953382e+01] [-3.48766876e-03 9.99930968e-01 1.12203186e-02 -6.61099553e-02] [ 6.27061279e-02 -1.09796195e-02 9.97971638e-01 9.50906192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.482557844 meters Centerline goodness : 0.098460 with order 1 Centerline is valid? [False, False] Translation: X:-10.99, Y:-0.07, Z:0.95 [[ 9.97983537e-01 4.43835295e-03 -6.33179365e-02 -1.09933413e+01] [-3.69083793e-03 9.99922169e-01 1.19178239e-02 -6.96927412e-02] [ 6.33659038e-02 -1.16600959e-02 9.97922244e-01 9.50283299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.542557844 meters Centerline goodness : 0.105121 with order 1 Centerline is valid? [False, False] Translation: X:-10.99, Y:-0.07, Z:0.95 [[ 9.97950326e-01 4.71584981e-03 -6.38193347e-02 -1.09916240e+01] [-3.92824870e-03 9.99914643e-01 1.24609604e-02 -7.19778713e-02] [ 6.38726513e-02 -1.21847213e-02 9.97883669e-01 9.49597833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.602557844 meters Centerline goodness : 0.236452 with order 3 Centerline is valid? [False, False] Translation: X:-10.99, Y:-0.07, Z:0.95 [[ 9.98014187e-01 4.97679278e-03 -6.27926246e-02 -1.09949639e+01] [-4.19240654e-03 9.99911610e-01 1.26172728e-02 -7.28477112e-02] [ 6.28498680e-02 -1.23289651e-02 9.97946838e-01 9.50658779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.662557844 meters Centerline goodness : 0.233056 with order 3 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.07, Z:0.95 [[ 9.97859539e-01 5.48085503e-03 -6.51636484e-02 -1.10417023e+01] [-4.62441223e-03 9.99901037e-01 1.32865300e-02 -6.82570148e-02] [ 6.52300211e-02 -1.29567471e-02 9.97786133e-01 9.49760542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.722557844 meters Centerline goodness : 0.099917 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.07, Z:0.95 [[ 9.97841926e-01 5.47270407e-03 -6.54334788e-02 -1.10405288e+01] [-4.62102887e-03 9.99902723e-01 1.31601646e-02 -6.74023217e-02] [ 6.54991354e-02 -1.28293940e-02 9.97770149e-01 9.49018643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.782557844 meters Centerline goodness : 0.107390 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.07, Z:0.95 [[ 9.97832342e-01 5.41239446e-03 -6.55844711e-02 -1.10395586e+01] [-4.56734443e-03 9.99904701e-01 1.30280028e-02 -6.67729720e-02] [ 6.56487336e-02 -1.27002157e-02 9.97761970e-01 9.48107868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.842557844 meters Centerline goodness : 0.100087 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.06, Z:0.95 [[ 9.97834349e-01 5.38364402e-03 -6.55562929e-02 -1.10396584e+01] [-4.56129676e-03 9.99909109e-01 1.26873573e-02 -6.48101223e-02] [ 6.56186386e-02 -1.23608592e-02 9.97768211e-01 9.48224924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.902557844 meters Centerline goodness : 0.243333 with order 3 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.06, Z:0.95 [[ 9.97814904e-01 5.31742666e-03 -6.58569792e-02 -1.10385470e+01] [-4.52763968e-03 9.99916107e-01 1.21359075e-02 -6.15974316e-02] [ 6.59159860e-02 -1.18112127e-02 9.97755270e-01 9.47783511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.962557844 meters Centerline goodness : 0.098622 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.06, Z:0.95 [[ 9.97814079e-01 5.17266769e-03 -6.58810048e-02 -1.10382513e+01] [-4.40654718e-03 9.99921035e-01 1.17688613e-02 -5.98578302e-02] [ 6.59366789e-02 -1.14528277e-02 9.97758080e-01 9.47454101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.022557844 meters Centerline goodness : 0.105083 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.06, Z:0.95 [[ 9.97826442e-01 5.00424366e-03 -6.57065326e-02 -1.10387140e+01] [-4.27928642e-03 9.99928464e-01 1.11693693e-02 -5.63559373e-02] [ 6.57577265e-02 -1.08639150e-02 9.97776476e-01 9.47505131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.082557844 meters Centerline goodness : 0.104133 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.05, Z:0.95 [[ 9.97857442e-01 4.54931821e-03 -6.52673720e-02 -1.10399173e+01] [-3.88863499e-03 9.99939945e-01 1.02461861e-02 -5.22256765e-02] [ 6.53100656e-02 -9.97043209e-03 9.97815206e-01 9.47659777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.142557844 meters Centerline goodness : 0.243594 with order 3 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.05, Z:0.95 [[ 9.97865446e-01 4.36943263e-03 -6.51571872e-02 -1.10401798e+01] [-3.72752920e-03 9.99943351e-01 9.96992891e-03 -5.10439135e-02] [ 6.51970591e-02 -9.70577224e-03 9.97825206e-01 9.47542325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.202557844 meters Centerline goodness : 0.167645 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.05, Z:0.95 [[ 9.97860850e-01 4.26290657e-03 -6.52345819e-02 -1.10396390e+01] [-3.63292393e-03 9.99945646e-01 9.77276592e-03 -4.97858589e-02] [ 6.52726965e-02 -9.51486824e-03 9.97822100e-01 9.46999989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.262557844 meters Centerline goodness : 0.230942 with order 3 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.05, Z:0.95 [[ 9.97877442e-01 4.05364286e-03 -6.49936830e-02 -1.10403468e+01] [-3.45240594e-03 9.99950231e-01 9.36034208e-03 -4.79287616e-02] [ 6.50283918e-02 -9.11608963e-03 9.97841774e-01 9.47163586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.322557844 meters Centerline goodness : 0.143971 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.05, Z:0.95 [[ 9.97884072e-01 3.86202165e-03 -6.49034903e-02 -1.10404162e+01] [-3.28738617e-03 9.99954471e-01 8.95815478e-03 -4.62020869e-02] [ 6.49351319e-02 -8.72583713e-03 9.97851336e-01 9.46912104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.382557844 meters Centerline goodness : 0.160751 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.05, Z:0.95 [[ 9.97878785e-01 3.74303969e-03 -6.49916966e-02 -1.10400616e+01] [-3.17581847e-03 9.99955983e-01 8.82871334e-03 -4.57699505e-02] [ 6.50218821e-02 -8.60358391e-03 9.97846748e-01 9.46661380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442557844 meters Centerline goodness : 0.303609 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.05, Z:0.95 [[ 9.97884196e-01 3.83377259e-03 -6.49032558e-02 -1.10403041e+01] [-3.24242769e-03 9.99952293e-01 9.21405776e-03 -4.78923949e-02] [ 6.49354841e-02 -8.98411851e-03 9.97849021e-01 9.46578938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502557844 meters Centerline goodness : 0.101068 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.05, Z:0.95 [[ 9.97893480e-01 3.94718348e-03 -6.47535456e-02 -1.10409078e+01] [-3.34065363e-03 9.99949556e-01 9.47234436e-03 -4.91970928e-02] [ 6.47876683e-02 -9.23607151e-03 9.97856329e-01 9.46875056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562557844 meters Centerline goodness : 0.112903 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:-0.05, Z:0.95 [[ 9.97898049e-01 4.02977403e-03 -6.46780140e-02 -1.10410453e+01] [-3.42730043e-03 9.99949727e-01 9.42321794e-03 -4.86462865e-02] [ 6.47127359e-02 -9.18173980e-03 9.97861693e-01 9.46841313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622557844 meters SLAMing on 298.68255784400003 meters Centerline goodness : 0.113612 with order 1 Centerline is valid? [False, False] Translation: X:-11.08, Y:-0.04, Z:0.94 [[ 9.97681579e-01 8.52080758e-03 -6.75193551e-02 -1.10814049e+01] [-7.73983569e-03 9.99900189e-01 1.18198050e-02 -3.50350209e-02] [ 6.76133301e-02 -1.12698130e-02 9.97647948e-01 9.43979340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74255784400003 meters Centerline goodness : 0.244085 with order 3 Centerline is valid? [False, False] Translation: X:-11.08, Y:-0.03, Z:0.94 [[ 9.97681786e-01 8.24894519e-03 -6.75500536e-02 -1.10811411e+01] [-7.52735838e-03 9.99911935e-01 1.09298269e-02 -3.05967021e-02] [ 6.76342644e-02 -1.03960157e-02 9.97656017e-01 9.43781157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80255784400003 meters Centerline goodness : 0.280968 with order 1 Centerline is valid? [False, False] Translation: X:-11.10, Y:-0.02, Z:0.94 [[ 9.97620125e-01 6.49894978e-04 -6.89468252e-02 -1.10981131e+01] [ 2.08094722e-04 9.99922644e-01 1.24363114e-02 -1.96907166e-02] [ 6.89495741e-02 -1.24210620e-02 9.97542818e-01 9.40444023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86255784400004 meters Centerline goodness : 0.283558 with order 1 Centerline is valid? [False, False] Translation: X:-11.10, Y:-0.01, Z:0.94 [[ 9.97607836e-01 9.52338542e-05 -6.91273876e-02 -1.10975078e+01] [ 6.82911679e-04 9.99936675e-01 1.12329699e-02 -1.37437410e-02] [ 6.91240798e-02 -1.12533067e-02 9.97544598e-01 9.40260978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92255784400004 meters Centerline goodness : 0.171084 with order 1 Centerline is valid? [False, False] Translation: X:-11.10, Y:-0.01, Z:0.94 [[ 9.97617445e-01 -2.37973591e-04 -6.89882351e-02 -1.10981813e+01] [ 9.72341251e-04 9.99943224e-01 1.06114399e-02 -1.07361741e-02] [ 6.89817930e-02 -1.06532377e-02 9.97561036e-01 9.40660851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.982557844 meters Centerline goodness : 0.163241 with order 1 Centerline is valid? [False, False] Translation: X:-11.10, Y:-0.01, Z:0.94 [[ 9.97639861e-01 -5.62081901e-04 -6.86614245e-02 -1.10992336e+01] [ 1.25058741e-03 9.99949367e-01 9.98497212e-03 -7.46400070e-03] [ 6.86523356e-02 -1.00472733e-02 9.97590051e-01 9.40942956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.042557844 meters Centerline goodness : 0.166854 with order 1 Centerline is valid? [False, False] Translation: X:-11.10, Y:-0.00, Z:0.94 [[ 9.97658577e-01 -1.11640914e-03 -6.83821448e-02 -1.10999069e+01] [ 1.74878460e-03 9.99956256e-01 9.18850464e-03 -4.49660033e-03] [ 6.83688954e-02 -9.28657610e-03 9.97616887e-01 9.40873117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.102557844 meters Centerline goodness : 0.159964 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:0.00, Z:0.94 [[ 9.97500818e-01 -1.47030620e-03 -7.06396160e-02 -1.11469603e+01] [ 2.12102130e-03 9.99956001e-01 9.13763419e-03 1.14942059e-03] [ 7.06230729e-02 -9.26462572e-03 9.97460048e-01 9.39705617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.162557844 meters Centerline goodness : 0.165940 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:0.00, Z:0.94 [[ 9.97480032e-01 -1.70581113e-03 -7.09272607e-02 -1.11460208e+01] [ 2.32960356e-03 9.99959327e-01 8.71302908e-03 2.94152169e-03] [ 7.09095131e-02 -8.85630493e-03 9.97443435e-01 9.39459054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.222557844 meters Centerline goodness : 0.161108 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:0.01, Z:0.94 [[ 9.97461611e-01 -1.87341994e-03 -7.11816347e-02 -1.11452162e+01] [ 2.45930220e-03 9.99963812e-01 8.14405839e-03 6.08263374e-03] [ 7.11638015e-02 -8.29844275e-03 9.97430122e-01 9.39321656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.282557844 meters Centerline goodness : 0.159487 with order 1 Centerline is valid? [False, False] Translation: X:-11.13, Y:0.01, Z:0.94 [[ 9.97610953e-01 8.01010210e-03 -6.86165099e-02 -1.11266970e+01] [-7.51016653e-03 9.99943365e-01 7.54081000e-03 8.81405749e-03] [ 6.86730264e-02 -7.00747323e-03 9.97614610e-01 9.41117696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.342557844 meters Centerline goodness : 0.172634 with order 1 Centerline is valid? [False, False] Translation: X:-11.13, Y:0.02, Z:0.94 [[ 9.97585301e-01 1.08924972e-02 -6.85924189e-02 -1.11278275e+01] [-1.02749212e-02 9.99903498e-01 9.34995081e-03 1.55307985e-02] [ 6.86876439e-02 -8.62259180e-03 9.97600952e-01 9.42236491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.402557844 meters Centerline goodness : 0.110026 with order 2 Centerline is valid? [False, False] Translation: X:-11.15, Y:0.03, Z:0.94 [[ 9.97600512e-01 6.11117843e-03 -6.89628302e-02 -1.11466813e+01] [-5.27201870e-03 9.99909915e-01 1.23437414e-02 2.95732477e-02] [ 6.90320525e-02 -1.19505494e-02 9.97542861e-01 9.39857763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.462557844 meters Centerline goodness : 0.122422 with order 2 Centerline is valid? [False, False] Translation: X:-11.15, Y:0.04, Z:0.94 [[ 9.97576476e-01 9.34328637e-03 -6.89483631e-02 -1.11466893e+01] [-8.37606448e-03 9.99862609e-01 1.43040060e-02 3.82367112e-02] [ 6.90725366e-02 -1.36918240e-02 9.97517678e-01 9.39882862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.522557844 meters Centerline goodness : 0.165635 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:0.04, Z:0.94 [[ 9.97581951e-01 8.90303867e-03 -6.89274050e-02 -1.11466263e+01] [-7.99904317e-03 9.99878487e-01 1.33801024e-02 4.29170249e-02] [ 6.90381530e-02 -1.27963954e-02 9.97531947e-01 9.39700679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.582557844 meters Centerline goodness : 0.123004 with order 2 Centerline is valid? [False, False] Translation: X:-11.17, Y:0.05, Z:0.94 [[ 9.97562790e-01 -2.51904137e-04 -6.97740334e-02 -1.11673386e+01] [ 1.18356213e-03 9.99910698e-01 1.33114836e-02 5.23864201e-02] [ 6.97644492e-02 -1.33616227e-02 9.97474004e-01 9.37509231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.642557844 meters Centerline goodness : 0.397361 with order 1 Centerline is valid? [False, False] Translation: X:-11.17, Y:0.06, Z:0.94 [[ 9.97527941e-01 -7.78289348e-04 -7.02666381e-02 -1.11654704e+01] [ 1.64544322e-03 9.99923197e-01 1.22838667e-02 5.73552640e-02] [ 7.02516810e-02 -1.23691201e-02 9.97452608e-01 9.36643807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.702557844 meters Centerline goodness : 0.113990 with order 2 Centerline is valid? [False, False] Translation: X:-11.14, Y:0.06, Z:0.94 [[ 9.97658627e-01 7.60526007e-03 -6.79663477e-02 -1.11439501e+01] [-6.83018652e-03 9.99909054e-01 1.16289006e-02 5.87052758e-02] [ 6.80486073e-02 -1.11374502e-02 9.97619840e-01 9.37108081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.762557844 meters Centerline goodness : 0.133378 with order 3 Centerline is valid? [False, False] Translation: X:-11.14, Y:0.06, Z:0.94 [[ 9.97663333e-01 7.12955040e-03 -6.79488356e-02 -1.11442145e+01] [-6.43139668e-03 9.99924317e-01 1.04879232e-02 6.44108659e-02] [ 6.80184673e-02 -1.00264105e-02 9.97633680e-01 9.37584228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.822557844 meters Centerline goodness : 0.388032 with order 1 Centerline is valid? [False, False] Translation: X:-11.19, Y:0.08, Z:0.94 [[ 9.97472253e-01 7.16260794e-03 -7.06951375e-02 -1.11894163e+01] [-6.52356397e-03 9.99935788e-01 9.26618153e-03 7.86642172e-02] [ 7.07569681e-02 -8.78157471e-03 9.97454929e-01 9.36200768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.882557844 meters Centerline goodness : 0.250186 with order 3 Centerline is valid? [False, False] Translation: X:-11.19, Y:0.08, Z:0.94 [[ 9.97469090e-01 6.95333311e-03 -7.07606278e-02 -1.11893427e+01] [-6.34847721e-03 9.99941397e-01 8.76922463e-03 8.11291699e-02] [ 7.08174564e-02 -8.29780827e-03 9.97454778e-01 9.36376410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942557844 meters Centerline goodness : 0.391127 with order 1 Centerline is valid? [False, False] Translation: X:-11.19, Y:0.08, Z:0.94 [[ 9.97461048e-01 6.64530245e-03 -7.09034442e-02 -1.11891048e+01] [-6.08443545e-03 9.99948494e-01 8.12334047e-03 8.41828455e-02] [ 7.09537743e-02 -7.67130827e-03 9.97450105e-01 9.36616076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002557844 meters Centerline goodness : 0.392851 with order 1 Centerline is valid? [False, False] Translation: X:-11.19, Y:0.09, Z:0.94 [[ 9.97447300e-01 6.18121697e-03 -7.11384283e-02 -1.11881283e+01] [-5.65186651e-03 9.99954842e-01 7.64001770e-03 8.57924189e-02] [ 7.11824405e-02 -7.21845013e-03 9.97437193e-01 9.36064690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062557844 meters Centerline goodness : 0.392535 with order 1 Centerline is valid? [False, False] Translation: X:-11.19, Y:0.09, Z:0.94 [[ 9.97475161e-01 5.98281694e-03 -7.07637508e-02 -1.11894068e+01] [-5.47025952e-03 9.99957399e-01 7.43479618e-03 8.62933594e-02] [ 7.08052172e-02 -7.02892843e-03 9.97465396e-01 9.36491042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122557844 meters Centerline goodness : 0.390576 with order 1 Centerline is valid? [False, False] Translation: X:-11.19, Y:0.09, Z:0.94 [[ 9.97482923e-01 5.81272412e-03 -7.06684591e-02 -1.11898819e+01] [-5.31820376e-03 9.99960053e-01 7.18389081e-03 8.72080931e-02] [ 7.07073941e-02 -6.78997914e-03 9.97473990e-01 9.36865492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18255784400003 meters Centerline goodness : 0.131062 with order 3 Centerline is valid? [False, False] Translation: X:-11.19, Y:0.09, Z:0.94 [[ 9.97512695e-01 5.56839788e-03 -7.02667519e-02 -1.11913774e+01] [-5.12961322e-03 9.99966213e-01 6.42345652e-03 9.10950955e-02] [ 7.03001461e-02 -6.04703816e-03 9.97507555e-01 9.37642432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24255784400003 meters Centerline goodness : 0.136865 with order 3 Centerline is valid? [False, False] Translation: X:-11.21, Y:0.10, Z:0.94 [[ 9.97486069e-01 -4.13267699e-04 -7.08616417e-02 -1.12140317e+01] [ 1.03959381e-03 9.99960721e-01 8.80206645e-03 9.87791251e-02] [ 7.08552207e-02 -8.85360599e-03 9.97447318e-01 9.36788890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30255784400003 meters Centerline goodness : 0.401997 with order 3 Centerline is valid? [False, False] Translation: X:-11.21, Y:0.10, Z:0.94 [[ 9.97471150e-01 -5.83392287e-04 -7.10701373e-02 -1.12134241e+01] [ 1.17447133e-03 9.99965069e-01 8.27533728e-03 1.01632255e-01] [ 7.10628270e-02 -8.33788003e-03 9.97436993e-01 9.36760796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36255784400004 meters Centerline goodness : 0.276534 with order 1 Centerline is valid? [False, False] Translation: X:-11.22, Y:0.10, Z:0.94 [[ 9.97511689e-01 -8.02470228e-04 -7.04967161e-02 -1.12155487e+01] [ 1.35514619e-03 9.99968722e-01 7.79226416e-03 1.04171812e-01] [ 7.04882581e-02 -7.86840794e-03 9.97481576e-01 9.37632311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42255784400004 meters Centerline goodness : 0.122925 with order 3 Centerline is valid? [False, False] Translation: X:-11.21, Y:0.10, Z:0.94 [[ 9.97488425e-01 -1.21222740e-03 -7.08192999e-02 -1.12146093e+01] [ 1.77404850e-03 9.99967451e-01 7.87080501e-03 1.02705206e-01] [ 7.08074536e-02 -7.97667377e-03 9.97458108e-01 9.37326431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.482557844 meters Centerline goodness : 0.242603 with order 3 Centerline is valid? [False, False] Translation: X:-11.21, Y:0.10, Z:0.93 [[ 9.97388417e-01 -4.71149377e-03 -7.20704356e-02 -1.12094571e+01] [ 5.11279089e-03 9.99972432e-01 5.38465626e-03 9.75036768e-02] [ 7.20430790e-02 -5.73907485e-03 9.97385010e-01 9.34954308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.542557844 meters Centerline goodness : 0.308569 with order 1 Centerline is valid? [False, False] Translation: X:-11.25, Y:0.09, Z:0.93 [[ 9.97140754e-01 -7.12644425e-03 -7.52298498e-02 -1.12521543e+01] [ 7.49112389e-03 9.99961514e-01 4.56647126e-03 9.37209195e-02] [ 7.51944118e-02 -5.11697072e-03 9.97155764e-01 9.32643410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.602557844 meters Centerline goodness : 0.394046 with order 1 Centerline is valid? [False, False] Translation: X:-11.25, Y:0.09, Z:0.93 [[ 9.97129367e-01 -6.87923558e-03 -7.54035849e-02 -1.12514352e+01] [ 7.30053367e-03 9.99959236e-01 5.31302811e-03 8.99432778e-02] [ 7.53639616e-02 -5.84826277e-03 9.97138943e-01 9.32141678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.662557844 meters Centerline goodness : 0.127904 with order 3 Centerline is valid? [False, False] Translation: X:-11.23, Y:0.08, Z:0.94 [[ 9.97150297e-01 2.95389583e-04 -7.54400289e-02 -1.12346825e+01] [ 7.97359069e-06 9.99991916e-01 4.02091658e-03 8.06622966e-02] [ 7.54406068e-02 -4.01005969e-03 9.97142234e-01 9.35997150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.722557844 meters Centerline goodness : 0.392798 with order 1 Centerline is valid? [False, False] Translation: X:-11.26, Y:0.07, Z:0.93 [[ 9.97169813e-01 1.00035180e-02 -7.45137175e-02 -1.12586671e+01] [-9.70445194e-03 9.99943342e-01 4.37456004e-03 7.49086235e-02] [ 7.45532566e-02 -3.63906443e-03 9.97210394e-01 9.34249198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.782557844 meters Centerline goodness : 0.388497 with order 1 Centerline is valid? [False, False] Translation: X:-11.26, Y:0.08, Z:0.93 [[ 9.97124513e-01 1.05521960e-02 -7.50423620e-02 -1.12572278e+01] [-1.02409205e-02 9.99937292e-01 4.53159279e-03 7.52025082e-02] [ 7.50854745e-02 -3.75005939e-03 9.97170050e-01 9.34240187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.842557844 meters Centerline goodness : 0.383650 with order 1 Centerline is valid? [False, False] Translation: X:-11.26, Y:0.08, Z:0.93 [[ 9.97089483e-01 1.48043417e-02 -7.47890010e-02 -1.12580249e+01] [-1.42414408e-02 9.99866146e-01 8.05424814e-03 7.72967804e-02] [ 7.48982280e-02 -6.96570298e-03 9.97166854e-01 9.34629044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.902557844 meters Centerline goodness : 0.409177 with order 3 Centerline is valid? [False, False] Translation: X:-11.26, Y:0.08, Z:0.94 [[ 9.97090331e-01 1.83057490e-02 -7.39984490e-02 -1.12612188e+01] [-1.75756946e-02 9.99790348e-01 1.05050299e-02 8.19890391e-02] [ 7.41752375e-02 -9.17388963e-03 9.97203025e-01 9.36123454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.962557844 meters Centerline goodness : 0.361249 with order 1 Centerline is valid? [False, False] Translation: X:-11.26, Y:0.08, Z:0.94 [[ 9.97107277e-01 1.82199722e-02 -7.37909934e-02 -1.12617890e+01] [-1.75137294e-02 9.99794525e-01 1.02066852e-02 8.34003623e-02] [ 7.39617967e-02 -8.88480456e-03 9.97221496e-01 9.36186344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.022557844 meters Centerline goodness : 0.389285 with order 1 Centerline is valid? [False, False] Translation: X:-11.28, Y:0.09, Z:0.93 [[ 9.97275135e-01 9.91525840e-03 -7.31026222e-02 -1.12831273e+01] [-9.16397162e-03 9.99901769e-01 1.06054113e-02 9.02406401e-02] [ 7.32005967e-02 -9.90660262e-03 9.97268034e-01 9.34260893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.082557844 meters Centerline goodness : 0.376712 with order 1 Centerline is valid? [False, False] Translation: X:-11.28, Y:0.09, Z:0.93 [[ 9.97241981e-01 9.91190411e-03 -7.35539589e-02 -1.12817800e+01] [-9.13668559e-03 9.99899194e-01 1.08684631e-02 8.93306623e-02] [ 7.36542714e-02 -1.01664483e-02 9.97232015e-01 9.33943737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.142557844 meters Centerline goodness : 0.379677 with order 1 Centerline is valid? [False, False] Translation: X:-11.33, Y:0.09, Z:0.93 [[ 9.97072260e-01 9.01056513e-03 -7.59323259e-02 -1.13288246e+01] [-8.26851170e-03 9.99914996e-01 1.00812868e-02 9.08814386e-02] [ 7.60167095e-02 -9.42392406e-03 9.97062009e-01 9.32786302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.202557844 meters Centerline goodness : 0.379540 with order 1 Centerline is valid? [False, False] Translation: X:-11.34, Y:0.09, Z:0.94 [[ 9.97213880e-01 6.94795143e-03 -7.42711447e-02 -1.13365353e+01] [-6.33758176e-03 9.99944209e-01 8.45064804e-03 8.78214065e-02] [ 7.43257158e-02 -7.95640407e-03 9.97202278e-01 9.36282450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.262557844 meters Centerline goodness : 0.378878 with order 1 Centerline is valid? [False, False] Translation: X:-11.38, Y:0.09, Z:0.93 [[ 9.97007282e-01 6.75337933e-03 -7.70121468e-02 -1.13814187e+01] [-6.11277087e-03 9.99944756e-01 8.55097791e-03 8.83563797e-02] [ 7.70656403e-02 -8.05462964e-03 9.96993485e-01 9.34053515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.322557844 meters Centerline goodness : 0.269286 with order 1 Centerline is valid? [False, False] Translation: X:-11.38, Y:0.09, Z:0.93 [[ 9.96951358e-01 6.83824519e-03 -7.77253423e-02 -1.13793236e+01] [-6.15571405e-03 9.99940394e-01 9.01752352e-03 8.59981974e-02] [ 7.77823735e-02 -8.51157733e-03 9.96934028e-01 9.33562022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.382557844 meters Centerline goodness : 0.271580 with order 1 Centerline is valid? [False, False] Translation: X:-11.38, Y:0.09, Z:0.93 [[ 9.96919729e-01 6.83155688e-03 -7.81305551e-02 -1.13780271e+01] [-6.15052260e-03 9.99940997e-01 8.95394221e-03 8.63651789e-02] [ 7.81871145e-02 -8.44581790e-03 9.96902926e-01 9.33226869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442557844 meters Centerline goodness : 0.386320 with order 1 Centerline is valid? [False, False] Translation: X:-11.38, Y:0.09, Z:0.93 [[ 9.96899823e-01 6.83932898e-03 -7.83834589e-02 -1.13768873e+01] [-6.16486584e-03 9.99941892e-01 8.84342065e-03 8.75343560e-02] [ 7.84393872e-02 -8.33278097e-03 9.96884059e-01 9.32586494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502557844 meters Centerline goodness : 0.388038 with order 1 Centerline is valid? [False, False] Translation: X:-11.42, Y:0.09, Z:0.93 [[ 9.96671189e-01 7.44987107e-03 -8.11852170e-02 -1.14217671e+01] [-6.70080331e-03 9.99932468e-01 9.49520590e-03 9.05957748e-02] [ 8.12504724e-02 -8.91959199e-03 9.96653802e-01 9.29637855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562557844 meters Centerline goodness : 0.391265 with order 1 Centerline is valid? [False, False] Translation: X:-11.42, Y:0.09, Z:0.93 [[ 9.96725909e-01 7.21829299e-03 -8.05317295e-02 -1.14236824e+01] [-6.47914375e-03 9.99934490e-01 9.43590416e-03 9.00005232e-02] [ 8.05945650e-02 -8.88323349e-03 9.96707381e-01 9.29907919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622557844 meters Centerline goodness : 0.386198 with order 1 Centerline is valid? [False, False] Translation: X:-11.42, Y:0.09, Z:0.93 [[ 9.96709026e-01 7.09080309e-03 -8.07517052e-02 -1.14229944e+01] [-6.36007969e-03 9.99936503e-01 9.30263967e-03 9.03246425e-02] [ 8.08125409e-02 -8.75843764e-03 9.96690836e-01 9.29732853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68255784400003 meters Centerline goodness : 0.391648 with order 1 Centerline is valid? [False, False] Translation: X:-11.42, Y:0.09, Z:0.93 [[ 9.96651576e-01 7.06616200e-03 -8.14598349e-02 -1.14206047e+01] [-6.36058234e-03 9.99940005e-01 8.91793669e-03 9.31210057e-02] [ 8.15179633e-02 -8.36994368e-03 9.96636727e-01 9.29086683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74255784400003 meters Centerline goodness : 0.389029 with order 1 Centerline is valid? [False, False] Translation: X:-11.42, Y:0.10, Z:0.93 [[ 9.96675339e-01 1.01438037e-02 -8.08416469e-02 -1.14237137e+01] [-9.30079379e-03 9.99898448e-01 1.07976741e-02 1.00782385e-01] [ 8.09429667e-02 -1.00098840e-02 9.96668470e-01 9.30905836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80255784400003 meters Centerline goodness : 0.270159 with order 1 Centerline is valid? [False, False] Translation: X:-11.42, Y:0.10, Z:0.93 [[ 9.96678004e-01 9.89319084e-03 -8.08398471e-02 -1.14237826e+01] [-9.09724913e-03 9.99906511e-01 1.02083051e-02 1.03472849e-01] [ 8.09332822e-02 -9.43897296e-03 9.96674826e-01 9.31033223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86255784400004 meters Centerline goodness : 0.138370 with order 3 Centerline is valid? [False, False] Translation: X:-11.45, Y:0.11, Z:0.93 [[ 9.96718085e-01 3.89619568e-03 -8.08571511e-02 -1.14471845e+01] [-2.90745259e-03 9.99919603e-01 1.23424069e-02 1.12090545e-01] [ 8.08987388e-02 -1.20668118e-02 9.96649279e-01 9.30204963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92255784400004 meters Centerline goodness : 0.133647 with order 3 Centerline is valid? [False, False] Translation: X:-11.45, Y:0.11, Z:0.93 [[ 9.96666143e-01 3.44772844e-03 -8.15151053e-02 -1.14450667e+01] [-2.49622956e-03 9.99927595e-01 1.17716995e-02 1.14145473e-01] [ 8.15497889e-02 -1.15289739e-02 9.96602586e-01 9.29550742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.982557844 meters Centerline goodness : 0.156861 with order 3 Centerline is valid? [False, False] Translation: X:-11.45, Y:0.12, Z:0.93 [[ 9.96671386e-01 3.21515286e-03 -8.14604938e-02 -1.14453269e+01] [-2.29649120e-03 9.99932739e-01 1.13685726e-02 1.16002783e-01] [ 8.14915664e-02 -1.11436577e-02 9.96611732e-01 9.29724102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.042557844 meters Centerline goodness : 0.386718 with order 1 Centerline is valid? [False, False] Translation: X:-11.49, Y:0.12, Z:0.93 [[ 9.96545905e-01 4.27176281e-03 -8.29337712e-02 -1.14939728e+01] [-3.31230138e-03 9.99926030e-01 1.17031510e-02 1.22298858e-01] [ 8.29776296e-02 -1.13880256e-02 9.96486340e-01 9.28503315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.102557844 meters Centerline goodness : 0.133757 with order 3 Centerline is valid? [False, False] Translation: X:-11.50, Y:0.13, Z:0.93 [[ 9.96581127e-01 4.02611708e-03 -8.25218010e-02 -1.14958031e+01] [-3.11450146e-03 9.99932733e-01 1.11727188e-02 1.25151217e-01] [ 8.25612327e-02 -1.08775064e-02 9.96526629e-01 9.29672148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.162557844 meters Centerline goodness : 0.129777 with order 3 Centerline is valid? [False, False] Translation: X:-11.54, Y:0.13, Z:0.93 [[ 9.96375952e-01 5.06485590e-03 -8.49076536e-02 -1.15424157e+01] [-4.08755617e-03 9.99923431e-01 1.16800474e-02 1.29623570e-01] [ 8.49603101e-02 -1.12906535e-02 9.96320364e-01 9.27697313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.222557844 meters Centerline goodness : 0.126226 with order 3 Centerline is valid? [False, False] Translation: X:-11.54, Y:0.13, Z:0.93 [[ 9.96398608e-01 5.09074999e-03 -8.46398091e-02 -1.15432254e+01] [-4.10386048e-03 9.99921604e-01 1.18297765e-02 1.29055770e-01] [ 8.46933962e-02 -1.14398229e-02 9.96341387e-01 9.27874604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.282557844 meters Centerline goodness : 0.125392 with order 3 Centerline is valid? [False, False] Translation: X:-11.54, Y:0.13, Z:0.93 [[ 9.96386188e-01 5.05910432e-03 -8.47877947e-02 -1.15428291e+01] [-4.02805530e-03 9.99915906e-01 1.23270126e-02 1.25893152e-01] [ 8.48430282e-02 -1.19409352e-02 9.96322776e-01 9.27669630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.342557844 meters Centerline goodness : 0.195864 with order 3 Centerline is valid? [False, False] Translation: X:-11.54, Y:0.12, Z:0.93 [[ 9.96375895e-01 5.28009102e-03 -8.48952069e-02 -1.15424768e+01] [-4.20618213e-03 9.99908926e-01 1.28237117e-02 1.23934243e-01] [ 8.49551855e-02 -1.24201526e-02 9.96307360e-01 9.27533501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.402557844 meters Centerline goodness : 0.237624 with order 3 Centerline is valid? [False, False] Translation: X:-11.55, Y:0.12, Z:0.93 [[ 9.96431985e-01 5.18466243e-03 -8.42402457e-02 -1.15450801e+01] [-4.10934786e-03 9.99907918e-01 1.29332407e-02 1.22500599e-01] [ 8.42995431e-02 -1.25409222e-02 9.96361537e-01 9.28667259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.462557844 meters Centerline goodness : 0.128770 with order 3 Centerline is valid? [False, False] Translation: X:-11.59, Y:0.12, Z:0.93 [[ 9.96066184e-01 3.27701356e-03 -8.85517825e-02 -1.15864533e+01] [-2.30799691e-03 9.99936359e-01 1.10431129e-02 1.23967574e-01] [ 8.85823354e-02 -1.07952941e-02 9.96010357e-01 9.25680013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.522557844 meters Centerline goodness : 0.123656 with order 3 Centerline is valid? [False, False] Translation: X:-11.58, Y:0.12, Z:0.92 [[ 9.96026585e-01 3.24492439e-03 -8.89972576e-02 -1.15848802e+01] [-2.22760273e-03 9.99931071e-01 1.15278741e-02 1.21450497e-01] [ 8.90285302e-02 -1.12838185e-02 9.95965158e-01 9.24915919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.582557844 meters Centerline goodness : 0.392535 with order 1 Centerline is valid? [False, False] Translation: X:-11.63, Y:0.12, Z:0.92 [[ 9.95787647e-01 7.81282341e-04 -9.16861550e-02 -1.16296685e+01] [ 9.40464693e-05 9.99954467e-01 9.54230308e-03 1.20381379e-01] [ 9.16894355e-02 -9.51073029e-03 9.95742232e-01 9.21781058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.642557844 meters Centerline goodness : 0.274548 with order 1 Centerline is valid? [False, False] Translation: X:-11.63, Y:0.11, Z:0.92 [[ 9.95787842e-01 -3.20614659e-03 -9.16312979e-02 -1.16301018e+01] [ 3.82870885e-03 9.99970763e-01 6.61923258e-03 1.14487642e-01] [ 9.16073966e-02 -6.94218088e-03 9.95771003e-01 9.22093125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.702557844 meters Centerline goodness : 0.148235 with order 1 Centerline is valid? [False, False] Translation: X:-11.63, Y:0.11, Z:0.92 [[ 9.95806155e-01 -2.81235282e-03 -9.14450245e-02 -1.16304630e+01] [ 3.52366928e-03 9.99964773e-01 7.61810506e-03 1.09244145e-01] [ 9.14203784e-02 -7.90837793e-03 9.95780986e-01 9.21734014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.762557844 meters Centerline goodness : 0.396329 with order 1 Centerline is valid? [False, False] Translation: X:-11.65, Y:0.10, Z:0.92 [[ 9.95863310e-01 3.29097524e-03 -9.08043920e-02 -1.16523288e+01] [-2.81084907e-03 9.99981389e-01 5.41485412e-03 9.99895970e-02] [ 9.08205222e-02 -5.13721711e-03 9.95854026e-01 9.18176662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.822557844 meters Centerline goodness : 0.158189 with order 3 Centerline is valid? [False, False] Translation: X:-11.65, Y:0.09, Z:0.92 [[ 9.95830343e-01 3.12854796e-03 -9.11709418e-02 -1.16520806e+01] [-2.53536495e-03 9.99974864e-01 6.62136387e-03 8.63552162e-02] [ 9.11893655e-02 -6.36260344e-03 9.95813244e-01 9.18625904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.882557844 meters Centerline goodness : 0.153660 with order 1 Centerline is valid? [False, False] Translation: X:-11.65, Y:0.08, Z:0.92 [[ 9.95821755e-01 3.75491832e-03 -9.12410689e-02 -1.16519790e+01] [-3.04493824e-03 9.99964006e-01 7.91932218e-03 7.98290568e-02] [ 9.12675212e-02 -7.60840989e-03 9.95797345e-01 9.18516541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942557844 meters Centerline goodness : 0.150366 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.08, Z:0.92 [[ 9.95522443e-01 5.48672343e-03 -9.43661051e-02 -1.16958615e+01] [-4.61252530e-03 9.99944430e-01 9.47952740e-03 7.58060431e-02] [ 9.44128727e-02 -9.00181622e-03 9.95492429e-01 9.15185276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.002557844 meters Centerline goodness : 0.396364 with order 2 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.07, Z:0.92 [[ 9.95540437e-01 5.96295364e-03 -9.41471255e-02 -1.16968928e+01] [-5.04608432e-03 9.99937529e-01 9.97375263e-03 7.43160556e-02] [ 9.42007170e-02 -9.45419972e-03 9.95508334e-01 9.15852143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.062557844 meters Centerline goodness : 0.373298 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.07, Z:0.92 [[ 9.95587383e-01 6.57647517e-03 -9.36082959e-02 -1.16984842e+01] [-5.62581252e-03 9.99929926e-01 1.04160251e-02 7.33568378e-02] [ 9.36702371e-02 -9.84344049e-03 9.95554616e-01 9.16160940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.122557844 meters Centerline goodness : 0.379603 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.07, Z:0.92 [[ 9.95613594e-01 6.73076353e-03 -9.33181068e-02 -1.16991101e+01] [-5.75352441e-03 9.99925802e-01 1.07372196e-02 7.18688101e-02] [ 9.33834524e-02 -1.01532138e-02 9.95578446e-01 9.15914278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18255784400003 meters Centerline goodness : 0.153545 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.07, Z:0.92 [[ 9.95580064e-01 6.85837521e-03 -9.36658862e-02 -1.16981616e+01] [-5.83846327e-03 9.99920697e-01 1.11585308e-02 6.99219611e-02] [ 9.37349876e-02 -1.05623460e-02 9.95541154e-01 9.15763478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24255784400003 meters Centerline goodness : 0.140335 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.07, Z:0.92 [[ 9.95590627e-01 6.87691870e-03 -9.35521888e-02 -1.16983477e+01] [-5.85706763e-03 9.99920442e-01 1.11716249e-02 6.98144236e-02] [ 9.36215723e-02 -1.05744235e-02 9.95551698e-01 9.15628845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30255784400003 meters Centerline goodness : 0.257481 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.07, Z:0.92 [[ 9.95579266e-01 6.82072764e-03 -9.36771244e-02 -1.16977849e+01] [-5.84938919e-03 9.99926288e-01 1.06396763e-02 7.28538079e-02] [ 9.37427896e-02 -1.00446871e-02 9.95545777e-01 9.15450995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36255784400004 meters Centerline goodness : 0.165816 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.08, Z:0.92 [[ 9.95558279e-01 7.00969054e-03 -9.38859815e-02 -1.16971995e+01] [-6.08261547e-03 9.99929916e-01 1.01570125e-02 7.63509943e-02] [ 9.39505991e-02 -9.54082551e-03 9.95531143e-01 9.15550239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42255784400004 meters Centerline goodness : 0.116887 with order 2 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.08, Z:0.92 [[ 9.95592774e-01 7.23295105e-03 -9.35024799e-02 -1.16984120e+01] [-6.37301759e-03 9.99934639e-01 9.49224070e-03 8.14527718e-02] [ 9.35650254e-02 -8.85451330e-03 9.95573796e-01 9.15993824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.482557844 meters Centerline goodness : 0.123555 with order 2 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.08, Z:0.92 [[ 9.95553761e-01 7.09127406e-03 -9.39277561e-02 -1.16969937e+01] [-6.28014079e-03 9.99940419e-01 8.92849798e-03 8.47052207e-02] [ 9.39854742e-02 -8.29892021e-03 9.95538979e-01 9.15613182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.542557844 meters Centerline goodness : 0.159068 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.09, Z:0.92 [[ 9.95538347e-01 6.88003656e-03 -9.41066633e-02 -1.16962046e+01] [-6.11255223e-03 9.99945689e-01 8.44130180e-03 8.72426003e-02] [ 9.41596287e-02 -7.82840775e-03 9.95526333e-01 9.15188427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.602557844 meters Centerline goodness : 0.152143 with order 1 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.09, Z:0.91 [[ 9.95581458e-01 6.58962615e-03 -9.36703621e-02 -1.16970303e+01] [-5.90324677e-03 9.99953673e-01 7.60280880e-03 9.16455156e-02] [ 9.37161223e-02 -7.01625621e-03 9.95574237e-01 9.14892297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.662557844 meters Centerline goodness : 0.111946 with order 2 Centerline is valid? [False, False] Translation: X:-11.70, Y:0.09, Z:0.92 [[ 9.95605486e-01 6.45200426e-03 -9.34242402e-02 -1.16978541e+01] [-5.80049510e-03 9.99956942e-01 7.24353449e-03 9.33940272e-02] [ 9.34669528e-02 -6.66979583e-03 9.95600041e-01 9.15143641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.722557844 meters Centerline goodness : 0.109359 with order 2 Centerline is valid? [False, False] Translation: X:-11.72, Y:0.10, Z:0.91 [[ 9.95686611e-01 9.61963652e-04 -9.27752509e-02 -1.17209010e+01] [-3.71952797e-05 9.99950307e-01 9.96904884e-03 1.01425011e-01] [ 9.27802305e-02 -9.92259765e-03 9.95637168e-01 9.13170380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.782557844 meters Centerline goodness : 0.150573 with order 1 Centerline is valid? [False, False] Translation: X:-11.72, Y:0.11, Z:0.91 [[ 9.95691995e-01 6.77889963e-04 -9.27199647e-02 -1.17207192e+01] [ 1.80761673e-04 9.99957183e-01 9.25198679e-03 1.05396806e-01] [ 9.27222665e-02 -9.22888940e-03 9.95649240e-01 9.12758214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.842557844 meters Centerline goodness : 0.151803 with order 1 Centerline is valid? [False, False] Translation: X:-11.74, Y:0.11, Z:0.91 [[ 9.95774178e-01 -7.87000046e-03 -9.14978152e-02 -1.17432133e+01] [ 8.77072616e-03 9.99916917e-01 9.44630240e-03 1.12770093e-01] [ 9.14158709e-02 -1.02088863e-02 9.95760472e-01 9.10417499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.902557844 meters Centerline goodness : 0.395252 with order 1 Centerline is valid? [False, False] Translation: X:-11.72, Y:0.11, Z:0.91 [[ 9.95859501e-01 -3.83806389e-04 -9.09049289e-02 -1.17240723e+01] [ 1.11002491e-03 9.99967875e-01 7.93834614e-03 1.12704007e-01] [ 9.08989618e-02 -8.00638416e-03 9.95827935e-01 9.12921109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.962557844 meters Centerline goodness : 0.276679 with order 1 Centerline is valid? [False, False] Translation: X:-11.72, Y:0.12, Z:0.91 [[ 9.95844688e-01 -7.02205665e-04 -9.10651609e-02 -1.17231851e+01] [ 1.36743532e-03 9.99972836e-01 7.24279846e-03 1.16293589e-01] [ 9.10576012e-02 -7.33722809e-03 9.95818597e-01 9.12342648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.022557844 meters Centerline goodness : 0.154031 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.13, Z:0.91 [[ 9.95635006e-01 -3.83755868e-04 -9.33315958e-02 -1.17691838e+01] [ 1.01427802e-03 9.99976984e-01 6.70837841e-03 1.25516624e-01] [ 9.33268733e-02 -6.77376057e-03 9.95612480e-01 9.09207423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.082557844 meters Centerline goodness : 0.308745 with order 1 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.13, Z:0.91 [[ 9.95567249e-01 -8.39681176e-04 -9.40486496e-02 -1.17664807e+01] [ 1.37287855e-03 9.99983350e-01 5.60481966e-03 1.31544825e-01] [ 9.40423775e-02 -5.70909226e-03 9.95551826e-01 9.08103961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.142557844 meters Centerline goodness : 0.197499 with order 3 Centerline is valid? [False, False] Translation: X:-11.76, Y:0.14, Z:0.91 [[ 9.95527642e-01 -1.25150248e-03 -9.44624167e-02 -1.17648723e+01] [ 1.69929773e-03 9.99987698e-01 4.66016851e-03 1.36511503e-01] [ 9.44554223e-02 -4.79984634e-03 9.95517521e-01 9.07446421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.202557844 meters Centerline goodness : 0.134971 with order 3 Centerline is valid? [False, False] Translation: X:-11.76, Y:0.14, Z:0.91 [[ 9.95530589e-01 -1.85243803e-03 -9.44214776e-02 -1.17646780e+01] [ 2.17931918e-03 9.99991984e-01 3.35893630e-03 1.43230330e-01] [ 9.44144985e-02 -3.54969837e-03 9.95526646e-01 9.07119828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.262557844 meters Centerline goodness : 0.137019 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.15, Z:0.91 [[ 9.95711716e-01 1.31239018e-04 -9.25103326e-02 -1.17717509e+01] [ 2.49913578e-04 9.99991529e-01 4.10851170e-03 1.54375485e-01] [ 9.25100881e-02 -4.11401283e-03 9.95703248e-01 9.09268498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.322557844 meters Centerline goodness : 0.142910 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95756327e-01 -4.87892088e-04 -9.20277138e-02 -1.17731134e+01] [ 7.70510148e-04 9.99995096e-01 3.03550581e-03 1.58847577e-01] [ 9.20257815e-02 -3.09353240e-03 9.95751819e-01 9.09416951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.382557844 meters Centerline goodness : 0.131215 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95730859e-01 -8.68571268e-04 -9.23000705e-02 -1.17720115e+01] [ 1.10714452e-03 9.99996178e-01 2.53358438e-03 1.60896439e-01] [ 9.22975171e-02 -2.62495766e-03 9.95728014e-01 9.08776009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442557844 meters Centerline goodness : 0.131101 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95697739e-01 -1.16530764e-03 -9.26534117e-02 -1.17704781e+01] [ 1.37886968e-03 9.99996538e-01 2.24097323e-03 1.62264099e-01] [ 9.26504795e-02 -2.35908895e-03 9.95695899e-01 9.07866989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502557844 meters Centerline goodness : 0.152113 with order 1 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95672353e-01 -1.12888994e-03 -9.29262658e-02 -1.17695201e+01] [ 1.34719334e-03 9.99996478e-01 2.28651392e-03 1.62398140e-01] [ 9.29233574e-02 -2.40180834e-03 9.95670368e-01 9.07505586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562557844 meters Centerline goodness : 0.130623 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95713661e-01 -1.05924408e-03 -9.24834229e-02 -1.17708614e+01] [ 1.27938170e-03 9.99996488e-01 2.32103726e-03 1.62114915e-01] [ 9.24806396e-02 -2.42941010e-03 9.95711519e-01 9.07729182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622557844 meters Centerline goodness : 0.129752 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95736595e-01 -9.78513453e-04 -9.22370676e-02 -1.17719749e+01] [ 1.20330693e-03 9.99996440e-01 2.38154555e-03 1.61636426e-01] [ 9.22344089e-02 -2.48238156e-03 9.95734227e-01 9.08349564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68255784400003 meters Centerline goodness : 0.127376 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95716933e-01 -7.94000148e-04 -9.24508416e-02 -1.17714707e+01] [ 1.03332967e-03 9.99996238e-01 2.54088212e-03 1.61420294e-01] [ 9.24484763e-02 -2.62553155e-03 9.95714008e-01 9.08357899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74255784400003 meters Centerline goodness : 0.128168 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95677139e-01 -4.61770803e-04 -9.28806838e-02 -1.17696129e+01] [ 7.60821971e-04 9.99994641e-01 3.18435118e-03 1.58273774e-01] [ 9.28787156e-02 -3.24125134e-03 9.95672154e-01 9.07252247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80255784400003 meters Centerline goodness : 0.238411 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95705927e-01 -3.53803542e-04 -9.25720406e-02 -1.17710043e+01] [ 6.77739454e-04 9.99993757e-01 3.46787060e-03 1.56605818e-01] [ 9.25702358e-02 -3.51571903e-03 9.95699950e-01 9.07934349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86255784400004 meters Centerline goodness : 0.212217 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.16, Z:0.91 [[ 9.95748934e-01 -1.99245484e-04 -9.21087470e-02 -1.17727973e+01] [ 5.37150980e-04 9.99993217e-01 3.64377319e-03 1.56279563e-01] [ 9.21073963e-02 -3.67775957e-03 9.95742287e-01 9.08702376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92255784400004 meters Centerline goodness : 0.211219 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.15, Z:0.91 [[ 9.95718003e-01 -1.64500713e-04 -9.24425858e-02 -1.17712477e+01] [ 5.27749824e-04 9.99992236e-01 3.90502453e-03 1.54668816e-01] [ 9.24412257e-02 -3.93708978e-03 9.95710359e-01 9.07644832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.982557844 meters Centerline goodness : 0.191663 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.15, Z:0.91 [[ 9.95717670e-01 -5.09476803e-05 -9.24463022e-02 -1.17713838e+01] [ 4.57468051e-04 9.99990320e-01 4.37618191e-03 1.52343842e-01] [ 9.24451843e-02 -4.39973288e-03 9.95708055e-01 9.07701720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.042557844 meters Centerline goodness : 0.129539 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.15, Z:0.91 [[ 9.95723960e-01 -8.20144795e-05 -9.23785133e-02 -1.17713973e+01] [ 5.32100059e-04 9.99988109e-01 4.84756960e-03 1.49387177e-01] [ 9.23770172e-02 -4.87599581e-03 9.95712163e-01 9.07336671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.102557844 meters Centerline goodness : 0.131738 with order 3 Centerline is valid? [False, False] Translation: X:-11.77, Y:0.15, Z:0.91 [[ 9.95726981e-01 -9.69774336e-05 -9.23459283e-02 -1.17714020e+01] [ 5.54543793e-04 9.99987697e-01 4.92926959e-03 1.48442895e-01] [ 9.23443141e-02 -4.95941659e-03 9.95714784e-01 9.07172244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.162557844 meters Centerline goodness : 0.131385 with order 3 Centerline is valid? [False, False] Translation: X:-11.81, Y:0.15, Z:0.90 [[ 9.95370758e-01 1.93106396e-03 -9.60901906e-02 -1.18144673e+01] [-1.37349482e-03 9.99981838e-01 5.86836492e-03 1.53700688e-01] [ 9.60997775e-02 -5.70921946e-03 9.95355332e-01 9.04303788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.222557844 meters Centerline goodness : 0.128894 with order 3 Centerline is valid? [False, False] Translation: X:-11.81, Y:0.16, Z:0.90 [[ 9.95305833e-01 5.94609120e-03 -9.65968053e-02 -1.18121902e+01] [-5.11489020e-03 9.99947755e-01 8.85019425e-03 1.58623901e-01] [ 9.66443827e-02 -8.31456790e-03 9.95284246e-01 9.03292240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.282557844 meters Centerline goodness : 0.194694 with order 3 Centerline is valid? [False, False] Translation: X:-11.82, Y:0.16, Z:0.91 [[ 9.95368206e-01 8.43473250e-03 -9.57652821e-02 -1.18166576e+01] [-7.47567760e-03 9.99918296e-01 1.03690138e-02 1.64646513e-01] [ 9.58449176e-02 -9.60507632e-03 9.95349936e-01 9.05608262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.342557844 meters Centerline goodness : 0.136139 with order 3 Centerline is valid? [False, False] Translation: X:-11.82, Y:0.18, Z:0.91 [[ 9.95373200e-01 1.14221152e-02 -9.54029747e-02 -1.18197795e+01] [-1.03437486e-02 9.99876991e-01 1.17901979e-02 1.75411833e-01] [ 9.55259084e-02 -1.07488226e-02 9.95368908e-01 9.08041132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.402557844 meters Centerline goodness : 0.144898 with order 2 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.19, Z:0.91 [[ 9.95094751e-01 1.32562721e-02 -9.80342189e-02 -1.18658529e+01] [-1.21627582e-02 9.99857067e-01 1.17436595e-02 1.87558309e-01] [ 9.81758837e-02 -1.04936874e-02 9.95113751e-01 9.06291713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.462557844 meters Centerline goodness : 0.132444 with order 3 Centerline is valid? [False, False] Translation: X:-11.85, Y:0.20, Z:0.91 [[ 9.95256896e-01 5.92118913e-03 -9.71012368e-02 -1.18487196e+01] [-4.69367342e-03 9.99906224e-01 1.28651608e-02 1.98751018e-01] [ 9.71683081e-02 -1.23483785e-02 9.95191357e-01 9.10172587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.522557844 meters Centerline goodness : 0.132032 with order 3 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.21, Z:0.91 [[ 9.95608931e-01 1.34229806e-03 -9.36005038e-02 -1.18718709e+01] [ 4.93611316e-06 9.99896434e-01 1.43917332e-02 2.13429584e-01] [ 9.36101279e-02 -1.43290001e-02 9.95505813e-01 9.07831370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.582557844 meters Centerline goodness : 0.212646 with order 3 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.22, Z:0.91 [[ 9.95589264e-01 1.11590822e-03 -9.38124319e-02 -1.18713098e+01] [ 1.89077066e-04 9.99903365e-01 1.39005403e-02 2.15950030e-01] [ 9.38188781e-02 -1.38569664e-02 9.95492844e-01 9.07835685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.642557844 meters Centerline goodness : 0.145084 with order 2 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.22, Z:0.91 [[ 9.95525423e-01 7.43329711e-04 -9.44911569e-02 -1.18691865e+01] [ 4.83679982e-04 9.99915874e-01 1.29618785e-02 2.21027166e-01] [ 9.44928427e-02 -1.29495831e-02 9.95441315e-01 9.07429639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.702557844 meters Centerline goodness : 0.128840 with order 3 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.23, Z:0.91 [[ 9.95529733e-01 4.30449320e-04 -9.44476812e-02 -1.18694797e+01] [ 7.04475516e-04 9.99927956e-01 1.19827678e-02 2.26284655e-01] [ 9.44460348e-02 -1.19957377e-02 9.95457708e-01 9.07696015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.762557844 meters Centerline goodness : 0.128946 with order 3 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.23, Z:0.91 [[ 9.95543247e-01 4.17199641e-03 -9.42137903e-02 -1.18700883e+01] [-2.81442006e-03 9.99890360e-01 1.45378092e-02 2.33071947e-01] [ 9.42641123e-02 -1.42078606e-02 9.95445837e-01 9.07792553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.822557844 meters Centerline goodness : 0.143877 with order 3 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.24, Z:0.91 [[ 9.95496632e-01 7.63556212e-03 -9.44889135e-02 -1.18695378e+01] [-6.06161429e-03 9.99838247e-01 1.69333139e-02 2.38976788e-01] [ 9.46029250e-02 -1.62843016e-02 9.95381891e-01 9.07748480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.882557844 meters Centerline goodness : 0.155907 with order 3 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.25, Z:0.91 [[ 9.95430149e-01 1.11675851e-02 -9.48372424e-02 -1.18683363e+01] [-9.43703058e-03 9.99781040e-01 1.86765772e-02 2.48811398e-01] [ 9.50250491e-02 -1.76962461e-02 9.95317579e-01 9.06775114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942557844 meters Centerline goodness : 0.211004 with order 3 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.25, Z:0.91 [[ 9.95426435e-01 1.09007854e-02 -9.49072507e-02 -1.18680240e+01] [-9.28164136e-03 9.99804043e-01 1.74850512e-02 2.53463426e-01] [ 9.50792538e-02 -1.65241871e-02 9.95332551e-01 9.05927809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002557844 meters Centerline goodness : 0.215406 with order 3 Centerline is valid? [False, False] Translation: X:-11.89, Y:0.26, Z:0.90 [[ 9.95289425e-01 4.08061503e-03 -9.68623159e-02 -1.18854772e+01] [-2.18672297e-03 9.99804519e-01 1.96505222e-02 2.62161696e-01] [ 9.69235673e-02 -1.93461459e-02 9.95103788e-01 9.04171269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062557844 meters Centerline goodness : 0.216317 with order 3 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.26, Z:0.91 [[ 9.95254281e-01 1.18842140e-02 -9.65799185e-02 -1.18654817e+01] [-1.01165710e-02 9.99772617e-01 1.87715128e-02 2.56888363e-01] [ 9.67810425e-02 -1.77053709e-02 9.95148205e-01 9.07303213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122557844 meters Centerline goodness : 0.189971 with order 3 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.26, Z:0.91 [[ 9.95360937e-01 1.23656668e-02 -9.54132853e-02 -1.18694732e+01] [-1.05800278e-02 9.99759720e-01 1.91980525e-02 2.55271659e-01] [ 9.56277561e-02 -1.80995163e-02 9.95252601e-01 9.08214447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18255784400003 meters Centerline goodness : 0.139282 with order 2 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.25, Z:0.91 [[ 9.95323412e-01 1.27800733e-02 -9.57495447e-02 -1.18678324e+01] [-1.09199504e-02 9.99741824e-01 1.99258553e-02 2.51974160e-01] [ 9.59794784e-02 -1.87870900e-02 9.95206001e-01 9.07017148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24255784400003 meters Centerline goodness : 0.145767 with order 2 Centerline is valid? [False, False] Translation: X:-11.87, Y:0.24, Z:0.91 [[ 9.95285044e-01 1.08128652e-02 -9.63886025e-02 -1.18655527e+01] [-9.04298113e-03 9.99782746e-01 1.87799401e-02 2.44685214e-01] [ 9.65707266e-02 -1.78197532e-02 9.95166595e-01 9.06576769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30255784400003 meters Centerline goodness : 0.209411 with order 3 Centerline is valid? [False, False] Translation: X:-11.85, Y:0.24, Z:0.91 [[ 9.95487341e-01 2.62153017e-03 -9.48582210e-02 -1.18478974e+01] [-6.56921347e-04 9.99784764e-01 2.07363054e-02 2.39279586e-01] [ 9.48921649e-02 -2.05804151e-02 9.95274798e-01 9.09448599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36255784400004 meters Centerline goodness : 0.130688 with order 3 Centerline is valid? [False, False] Translation: X:-11.85, Y:0.23, Z:0.91 [[ 9.95486410e-01 -6.47647663e-04 -9.49019947e-02 -1.18478574e+01] [ 2.38208336e-03 9.99832185e-01 1.81639241e-02 2.33398224e-01] [ 9.48743049e-02 -1.83080041e-02 9.95320895e-01 9.09629290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42255784400004 meters Centerline goodness : 0.180841 with order 3 Centerline is valid? [False, False] Translation: X:-11.83, Y:0.22, Z:0.91 [[ 9.95200241e-01 5.04368669e-03 -9.77294275e-02 -1.18324653e+01] [-3.34457977e-03 9.99840536e-01 1.75418586e-02 2.22898445e-01] [ 9.78023188e-02 -1.71307981e-02 9.95058411e-01 9.14826318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.482557844 meters Centerline goodness : 0.241267 with order 3 Centerline is valid? [False, False] Translation: X:-11.83, Y:0.22, Z:0.91 [[ 9.95263929e-01 6.04145947e-03 -9.70217096e-02 -1.18348508e+01] [-4.26667080e-03 9.99819946e-01 1.84897601e-02 2.19510109e-01] [ 9.71159456e-02 -1.79882316e-02 9.95110505e-01 9.14871387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.542557844 meters Centerline goodness : 0.252266 with order 3 Centerline is valid? [False, False] Translation: X:-11.83, Y:0.22, Z:0.91 [[ 9.95247702e-01 6.66199925e-03 -9.71474668e-02 -1.18344648e+01] [-4.83561333e-03 9.99807344e-01 1.90234782e-02 2.17697515e-01] [ 9.72554851e-02 -1.84633054e-02 9.95088175e-01 9.14354826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.602557844 meters Centerline goodness : 0.101726 with order 1 Centerline is valid? [False, False] Translation: X:-11.83, Y:0.21, Z:0.91 [[ 9.95229802e-01 7.13477254e-03 -9.72971504e-02 -1.18341028e+01] [-5.23673166e-03 9.99791253e-01 1.97491063e-02 2.14278941e-01] [ 9.74177453e-02 -1.91453801e-02 9.95059414e-01 9.14404747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.662557844 meters Centerline goodness : 0.183480 with order 3 Centerline is valid? [False, False] Translation: X:-11.83, Y:0.21, Z:0.91 [[ 9.95188994e-01 7.65065111e-03 -9.76746311e-02 -1.18327490e+01] [-5.65969784e-03 9.99770863e-01 2.06443480e-02 2.09777137e-01] [ 9.78101929e-02 -1.99922190e-02 9.95004260e-01 9.14055359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.722557844 meters Centerline goodness : 0.099713 with order 1 Centerline is valid? [False, False] Translation: X:-11.83, Y:0.21, Z:0.91 [[ 9.95142253e-01 8.12898213e-03 -9.81112466e-02 -1.18313047e+01] [-6.09653856e-03 9.99760935e-01 2.09977523e-02 2.09170855e-01] [ 9.82584820e-02 -2.02976115e-02 9.94953907e-01 9.13603026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.782557844 meters Centerline goodness : 0.260648 with order 3 Centerline is valid? [False, False] Translation: X:-11.85, Y:0.21, Z:0.91 [[ 0.9948271 0.01783518 -0.10000476 -11.85090603] [ -0.01586798 0.99966531 0.02043211 0.20722418] [ 0.1003357 -0.01873955 0.99477715 0.91097105] [ 0. 0. 0. 1. ]] SLAMing on 306.842557844 meters Centerline goodness : 0.269845 with order 3 Centerline is valid? [False, False] Translation: X:-11.85, Y:0.21, Z:0.91 [[ 0.99478958 0.01856022 -0.10024576 -11.85056068] [ -0.01660061 0.99965515 0.02034709 0.21035054] [ 0.10058884 -0.01857693 0.99475463 0.9107787 ] [ 0. 0. 0. 1. ]] SLAMing on 306.902557844 meters Centerline goodness : 0.240306 with order 3 Centerline is valid? [False, False] Translation: X:-11.85, Y:0.21, Z:0.91 [[ 0.99478655 0.01829055 -0.10032531 -11.85081538] [ -0.01643314 0.9996785 0.01930921 0.21490132] [ 0.10064623 -0.01755988 0.9947673 0.91077625] [ 0. 0. 0. 1. ]] SLAMing on 306.962557844 meters Centerline goodness : 0.260810 with order 3 Centerline is valid? [False, False] Translation: X:-11.83, Y:0.22, Z:0.91 [[ 9.95020704e-01 1.03309280e-02 -9.91315791e-02 -1.18329543e+01] [-8.33327115e-03 9.99754209e-01 2.05445269e-02 2.19979058e-01] [ 9.93194575e-02 -1.96161393e-02 9.94862228e-01 9.14213478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.022557844 meters Centerline goodness : 0.096736 with order 1 Centerline is valid? [False, False] Translation: X:-11.83, Y:0.22, Z:0.91 [[ 9.95044747e-01 5.92315511e-03 -9.92515370e-02 -1.18330786e+01] [-4.30323947e-03 9.99854152e-01 1.65274559e-02 2.20099780e-01] [ 9.93349561e-02 -1.60184550e-02 9.94925111e-01 9.14649486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.082557844 meters Centerline goodness : 0.237093 with order 3 Centerline is valid? [False, False] Translation: X:-11.83, Y:0.22, Z:0.92 [[ 9.95047233e-01 2.19288545e-03 -9.93790479e-02 -1.18333024e+01] [-8.59717442e-04 9.99909097e-01 1.34558207e-02 2.17526844e-01] [ 9.93995211e-02 -1.33037392e-02 9.94958665e-01 9.15196708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.142557844 meters Centerline goodness : 0.397893 with order 2 Centerline is valid? [False, False] Translation: X:-11.86, Y:0.21, Z:0.91 [[ 9.95342757e-01 7.66425299e-03 -9.60939959e-02 -1.18580770e+01] [-6.59517459e-03 9.99912834e-01 1.14380265e-02 2.09783170e-01] [ 9.61732837e-02 -1.07510001e-02 9.95306543e-01 9.13627745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.202557844 meters Centerline goodness : 0.239321 with order 3 Centerline is valid? [False, False] Translation: X:-11.86, Y:0.21, Z:0.91 [[ 9.95279385e-01 7.99653238e-03 -9.67212532e-02 -1.18562666e+01] [-6.86901746e-03 9.99904587e-01 1.19847282e-02 2.07060281e-01] [ 9.68078610e-02 -1.12637730e-02 9.95239351e-01 9.13422474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.262557844 meters Centerline goodness : 0.241271 with order 3 Centerline is valid? [False, False] Translation: X:-11.86, Y:0.21, Z:0.91 [[ 9.95283897e-01 8.16509188e-03 -9.66607293e-02 -1.18564405e+01] [-7.01048599e-03 9.99900040e-01 1.22785324e-02 2.05769194e-01] [ 9.67513225e-02 -1.15429868e-02 9.95241650e-01 9.13444584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.322557844 meters Centerline goodness : 0.189119 with order 1 Centerline is valid? [False, False] Translation: X:-11.86, Y:0.20, Z:0.91 [[ 9.95304587e-01 8.40386986e-03 -9.64269356e-02 -1.18572326e+01] [-7.20055502e-03 9.99891891e-01 1.28202340e-02 2.03023471e-01] [ 9.65242505e-02 -1.20657103e-02 9.95257498e-01 9.13746304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.382557844 meters Centerline goodness : 0.237308 with order 3 Centerline is valid? [False, False] Translation: X:-11.88, Y:0.20, Z:0.91 [[ 9.95096878e-01 8.65474186e-05 -9.89049816e-02 -1.18772492e+01] [ 1.29292692e-03 9.99902787e-01 1.38832900e-02 2.02825798e-01] [ 9.88965683e-02 -1.39430955e-02 9.95000030e-01 9.11349385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.442557844 meters Centerline goodness : 0.230512 with order 3 Centerline is valid? [False, False] Translation: X:-11.88, Y:0.20, Z:0.91 [[ 9.95071411e-01 1.80481974e-04 -9.91607549e-02 -1.18761381e+01] [ 1.22237780e-03 9.99900035e-01 1.40863907e-02 2.01589349e-01] [ 9.91533846e-02 -1.41381766e-02 9.94971717e-01 9.10754491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.502557844 meters Centerline goodness : 0.199534 with order 1 Centerline is valid? [False, False] Translation: X:-11.86, Y:0.20, Z:0.91 [[ 9.95111512e-01 7.94304833e-03 -9.84377318e-02 -1.18561260e+01] [-6.69960517e-03 9.99893624e-01 1.29558974e-02 1.97477671e-01] [ 9.85301698e-02 -1.22330687e-02 9.95058871e-01 9.13632991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562557844 meters Centerline goodness : 0.173924 with order 1 Centerline is valid? [False, False] Translation: X:-11.86, Y:0.19, Z:0.91 [[ 9.95160129e-01 5.45998213e-03 -9.81147646e-02 -1.18581304e+01] [-4.40349451e-03 9.99930009e-01 1.09811996e-02 1.93745068e-01] [ 9.81678546e-02 -1.04960041e-02 9.95114519e-01 9.14521873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622557844 meters Centerline goodness : 0.284493 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:0.19, Z:0.91 [[ 9.95215397e-01 1.02341881e-02 -9.71677716e-02 -1.18792503e+01] [-9.56650147e-03 9.99927338e-01 7.33488975e-03 1.87277358e-01] [ 9.72357779e-02 -6.37023958e-03 9.95240988e-01 9.11718563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68255784400003 meters Centerline goodness : 0.390329 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:0.18, Z:0.91 [[ 9.95308425e-01 8.20224296e-03 -9.64046801e-02 -1.18829508e+01] [-7.66931373e-03 9.99953201e-01 5.89729184e-03 1.82349575e-01] [ 9.64485394e-02 -5.13026652e-03 9.95324751e-01 9.13152720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74255784400003 meters Centerline goodness : 0.399324 with order 2 Centerline is valid? [False, False] Translation: X:-11.88, Y:0.18, Z:0.91 [[ 9.95319823e-01 8.55802972e-03 -9.62559595e-02 -1.18839085e+01] [-7.96224009e-03 9.99946704e-01 6.57204210e-03 1.79341171e-01] [ 9.63070731e-02 -5.77487073e-03 9.95334918e-01 9.14009065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80255784400003 meters Centerline goodness : 0.268950 with order 1 Centerline is valid? [False, False] Translation: X:-11.88, Y:0.18, Z:0.91 [[ 9.95305861e-01 8.91946110e-03 -9.63674515e-02 -1.18836706e+01] [-8.26575424e-03 9.99940057e-01 7.18056546e-03 1.76385487e-01] [ 9.64257217e-02 -6.35030922e-03 9.95319925e-01 9.14103172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86255784400004 meters Centerline goodness : 0.155140 with order 1 Centerline is valid? [False, False] Translation: X:-11.89, Y:0.17, Z:0.91 [[ 9.95347982e-01 9.81874903e-03 -9.58435521e-02 -1.18853843e+01] [-9.08507310e-03 9.99926018e-01 8.08832119e-03 1.73304375e-01] [ 9.59158785e-02 -7.17994850e-03 9.95363548e-01 9.14491719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92255784400004 meters Centerline goodness : 0.315299 with order 1 Centerline is valid? [False, False] Translation: X:-11.89, Y:0.17, Z:0.91 [[ 9.95383229e-01 1.00771805e-02 -9.54498723e-02 -1.18868150e+01] [-9.32044159e-03 9.99921528e-01 8.37066079e-03 1.72486583e-01] [ 9.55267347e-02 -7.44238041e-03 9.95399043e-01 9.14973829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.982557844 meters Centerline goodness : 0.144979 with order 1 Centerline is valid? [False, False] Translation: X:-11.89, Y:0.17, Z:0.92 [[ 9.95387349e-01 1.01460512e-02 -9.53995996e-02 -1.18872239e+01] [-9.37353039e-03 9.99919579e-01 8.54240123e-03 1.71314098e-01] [ 9.54785991e-02 -7.60876706e-03 9.95402403e-01 9.15307069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.042557844 meters SLAMing on 308.102557844 meters Centerline goodness : 0.305680 with order 2 Centerline is valid? [False, False] Translation: X:-11.94, Y:0.17, Z:0.92 [[ 9.95301485e-01 1.02489909e-02 -9.62803865e-02 -1.19397395e+01] [-9.47661940e-03 9.99919173e-01 8.47596488e-03 1.72581896e-01] [ 9.63594745e-02 -7.52372785e-03 9.95318163e-01 9.15229305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.162557844 meters Centerline goodness : 0.392526 with order 1 Centerline is valid? [False, False] Translation: X:-11.94, Y:0.18, Z:0.91 [[ 9.95280637e-01 9.83428181e-03 -9.65388059e-02 -1.19385358e+01] [-9.12803345e-03 9.99928270e-01 7.75461681e-03 1.75550621e-01] [ 9.66081423e-02 -6.83681051e-03 9.95299013e-01 9.14378781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.222557844 meters Centerline goodness : 0.106735 with order 2 Centerline is valid? [False, False] Translation: X:-11.94, Y:0.18, Z:0.91 [[ 9.95229258e-01 9.72789306e-03 -9.70777640e-02 -1.19367276e+01] [-9.02887241e-03 9.99930073e-01 7.63732911e-03 1.76217795e-01] [ 9.71452707e-02 -6.72439064e-03 9.95247496e-01 9.13858186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.282557844 meters Centerline goodness : 0.401468 with order 2 Centerline is valid? [False, False] Translation: X:-11.96, Y:0.18, Z:0.91 [[ 9.95209205e-01 -2.86341298e-04 -9.77678724e-02 -1.19607723e+01] [ 1.02113868e-03 9.99971609e-01 7.46578019e-03 1.75942298e-01] [ 9.77629589e-02 -7.52984772e-03 9.95181242e-01 9.13020722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.342557844 meters Centerline goodness : 0.096484 with order 1 Centerline is valid? [False, False] Translation: X:-11.98, Y:0.17, Z:0.91 [[ 9.95386194e-01 4.25826723e-03 -9.58550523e-02 -1.19815556e+01] [-3.82137232e-03 9.99981460e-01 4.74098153e-03 1.66131408e-01] [ 9.58734635e-02 -4.35280972e-03 9.95384012e-01 9.10573128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.402557844 meters Centerline goodness : 0.274673 with order 1 Centerline is valid? [False, False] Translation: X:-11.98, Y:0.16, Z:0.91 [[ 9.95354266e-01 4.49838759e-03 -9.61750969e-02 -1.19803278e+01] [-4.01250997e-03 9.99978196e-01 5.24481496e-03 1.63485397e-01] [ 9.61965930e-02 -4.83454541e-03 9.95350613e-01 9.10044950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.462557844 meters Centerline goodness : 0.152341 with order 1 Centerline is valid? [False, False] Translation: X:-11.98, Y:0.16, Z:0.91 [[ 9.95361284e-01 4.91634145e-03 -9.60819644e-02 -1.19811691e+01] [-4.37504787e-03 9.99973356e-01 5.84352319e-03 1.60677595e-01] [ 9.61081331e-02 -5.39605355e-03 9.95356273e-01 9.10836932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.522557844 meters Centerline goodness : 0.159877 with order 1 Centerline is valid? [False, False] Translation: X:-11.98, Y:0.16, Z:0.91 [[ 9.95321190e-01 5.21299126e-03 -9.64808474e-02 -1.19797636e+01] [-4.61505328e-03 9.99968745e-01 6.41959535e-03 1.57584290e-01] [ 9.65112972e-02 -5.94429503e-03 9.95314139e-01 9.10375792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.582557844 meters Centerline goodness : 0.267873 with order 1 Centerline is valid? [False, False] Translation: X:-11.98, Y:0.15, Z:0.91 [[ 9.95305626e-01 1.47371326e-03 -9.67705504e-02 -1.19791111e+01] [-1.11952094e-03 9.99992475e-01 3.71431885e-03 1.51441841e-01] [ 9.67752961e-02 -3.58854579e-03 9.95299786e-01 9.10419674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.642557844 meters Centerline goodness : 0.144537 with order 1 Centerline is valid? [False, False] Translation: X:-11.98, Y:0.14, Z:0.91 [[ 9.95423486e-01 -3.04679031e-04 -9.55614535e-02 -1.19847250e+01] [ 5.81658875e-04 9.99995711e-01 2.87060494e-03 1.44518553e-01] [ 9.55601690e-02 -2.91305174e-03 9.95419393e-01 9.13018724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.702557844 meters Centerline goodness : 0.210149 with order 3 Centerline is valid? [False, False] Translation: X:-11.98, Y:0.14, Z:0.91 [[ 9.95419008e-01 1.48920006e-04 -9.56084529e-02 -1.19848151e+01] [ 2.32262892e-04 9.99992070e-01 3.97577527e-03 1.38769544e-01] [ 9.56082868e-02 -3.97976857e-03 9.95411079e-01 9.13457320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.762557844 meters Centerline goodness : 0.145513 with order 1 Centerline is valid? [False, False] Translation: X:-12.01, Y:0.13, Z:0.91 [[ 9.95388221e-01 6.12299450e-03 -9.57329568e-02 -1.20066042e+01] [-6.00132689e-03 9.99980777e-01 1.55878087e-03 1.29242755e-01] [ 9.57406609e-02 -9.77067352e-04 9.95405832e-01 9.11501547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.822557844 meters Centerline goodness : 0.109487 with order 2 Centerline is valid? [False, False] Translation: X:-12.01, Y:0.13, Z:0.91 [[ 9.95390306e-01 6.42041596e-03 -9.56917816e-02 -1.20069763e+01] [-6.24380384e-03 9.99978207e-01 2.14495153e-03 1.26455103e-01] [ 9.57034676e-02 -1.53758325e-03 9.95408701e-01 9.11849816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.882557844 meters Centerline goodness : 0.146920 with order 1 Centerline is valid? [False, False] Translation: X:-12.01, Y:0.12, Z:0.91 [[ 9.95376756e-01 6.72993887e-03 -9.58113889e-02 -1.20067784e+01] [-6.48331602e-03 9.99974821e-01 2.88511996e-03 1.22589783e-01] [ 9.58283931e-02 -2.25060584e-03 9.95395325e-01 9.12056033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942557844 meters Centerline goodness : 0.149243 with order 1 Centerline is valid? [False, False] Translation: X:-12.01, Y:0.12, Z:0.91 [[ 9.95379833e-01 2.78650474e-03 -9.59751193e-02 -1.20061867e+01] [-2.80313991e-03 9.99996070e-01 -3.85010639e-05 1.16743319e-01] [ 9.59746348e-02 3.07354869e-04 9.95383733e-01 9.11826698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002557844 meters Centerline goodness : 0.145791 with order 1 Centerline is valid? [False, False] Translation: X:-11.99, Y:0.12, Z:0.91 [[ 9.95531663e-01 -4.99554378e-03 -9.42960885e-02 -1.19863602e+01] [ 5.15928550e-03 9.99985577e-01 1.49274852e-03 1.15779200e-01] [ 9.42872713e-02 -1.97257886e-03 9.95543078e-01 9.14525874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062557844 meters Centerline goodness : 0.139747 with order 1 Centerline is valid? [False, False] Translation: X:-11.99, Y:0.11, Z:0.92 [[ 9.95573532e-01 -4.40908237e-03 -9.38823909e-02 -1.19880362e+01] [ 4.67121033e-03 9.99985781e-01 2.57251317e-03 1.11009511e-01] [ 9.38697135e-02 -2.99967042e-03 9.95579971e-01 9.15427965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122557844 meters Centerline goodness : 0.392212 with order 3 Centerline is valid? [False, False] Translation: X:-11.99, Y:0.11, Z:0.92 [[ 9.95605879e-01 -4.02489931e-03 -9.35560421e-02 -1.19891793e+01] [ 4.35192386e-03 9.99985113e-01 3.29173388e-03 1.07708050e-01] [ 9.35414004e-02 -3.68441838e-03 9.95608573e-01 9.15856756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18255784400003 meters Centerline goodness : 0.142419 with order 1 Centerline is valid? [False, False] Translation: X:-12.01, Y:0.10, Z:0.91 [[ 9.95657262e-01 1.81014375e-03 -9.30770636e-02 -1.20111064e+01] [-1.73195865e-03 9.99998076e-01 9.20775240e-04 9.81664277e-02] [ 9.30785513e-02 -7.55570929e-04 9.95658482e-01 9.14382976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24255784400003 meters Centerline goodness : 0.132901 with order 1 Centerline is valid? [False, False] Translation: X:-12.05, Y:0.09, Z:0.91 [[ 9.95337640e-01 1.14376445e-03 -9.64451883e-02 -1.20531286e+01] [-1.07260052e-03 9.99999113e-01 7.89710376e-04 9.19950032e-02] [ 9.64460060e-02 -6.82581303e-04 9.95337984e-01 9.10684950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30255784400003 meters Centerline goodness : 0.261166 with order 1 Centerline is valid? [False, False] Translation: X:-12.03, Y:0.08, Z:0.91 [[ 9.95232470e-01 9.80896654e-03 -9.70366717e-02 -1.20315254e+01] [-9.79775288e-03 9.99951826e-01 5.92066966e-04 8.48262434e-02] [ 9.70378046e-02 3.61497061e-04 9.95280631e-01 9.13118921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36255784400004 meters Centerline goodness : 0.237730 with order 3 Centerline is valid? [False, False] Translation: X:-12.03, Y:0.08, Z:0.91 [[ 9.95217267e-01 1.01313602e-02 -9.71593888e-02 -1.20313241e+01] [-1.00576860e-02 9.99948641e-01 1.24802289e-03 8.15121293e-02] [ 9.71670430e-02 -2.64855307e-04 9.95268052e-01 9.13337236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42255784400004 meters Centerline goodness : 0.120724 with order 3 Centerline is valid? [False, False] Translation: X:-12.04, Y:0.08, Z:0.92 [[ 9.95308578e-01 7.96931360e-03 -9.64226357e-02 -1.20356216e+01] [-8.06095370e-03 9.99967353e-01 -5.60894571e-04 7.83654431e-02] [ 9.64150178e-02 1.33552158e-03 9.95340324e-01 9.15437458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.482557844 meters Centerline goodness : 0.214335 with order 3 Centerline is valid? [False, False] Translation: X:-12.04, Y:0.08, Z:0.92 [[ 9.95344635e-01 8.21078526e-03 -9.60293783e-02 -1.20368436e+01] [-8.28159026e-03 9.99965650e-01 -3.38783972e-04 7.79019144e-02] [ 9.60232980e-02 1.13248277e-03 9.95378442e-01 9.15665334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.542557844 meters Centerline goodness : 0.132902 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95015365e-01 1.06447703e-02 -9.91519656e-02 -1.20799506e+01] [-1.05314867e-02 9.99943155e-01 1.66586786e-03 7.76087681e-02] [ 9.91640620e-02 -6.13346502e-04 9.95070908e-01 9.12019681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.602557844 meters Centerline goodness : 0.195456 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.94968797e-01 1.07656698e-02 -9.96051844e-02 -1.20786252e+01] [-1.07003497e-02 9.99942042e-01 1.19001587e-03 8.09231252e-02] [ 9.96122227e-02 -1.18218353e-04 9.95026327e-01 9.11568590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.662557844 meters Centerline goodness : 0.137419 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.94957454e-01 1.06521880e-02 -9.97306177e-02 -1.20781419e+01] [-1.06194315e-02 9.99943243e-01 8.59323730e-04 8.28046178e-02] [ 9.97341109e-02 2.04091911e-04 9.95014103e-01 9.11250100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.722557844 meters Centerline goodness : 0.243905 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.94975829e-01 6.47914094e-03 -9.99055545e-02 -1.20779518e+01] [-6.77976343e-03 9.99973453e-01 -2.66983962e-03 8.12717934e-02] [ 9.98856041e-02 3.33376191e-03 9.94993343e-01 9.11443315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.782557844 meters Centerline goodness : 0.370089 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95016537e-01 2.51183277e-03 -9.96783956e-02 -1.20787130e+01] [-3.12987787e-03 9.99976834e-01 -6.04449589e-03 7.99243019e-02] [ 9.96609037e-02 6.32635457e-03 9.95001347e-01 9.11588286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.842557844 meters Centerline goodness : 0.193215 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95072888e-01 2.66203833e-03 -9.91103475e-02 -1.20807723e+01] [-3.23390014e-03 9.99979036e-01 -5.60974552e-03 7.78367324e-02] [ 9.90933364e-02 5.90261864e-03 9.95060636e-01 9.12506688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.902557844 meters Centerline goodness : 0.119247 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95080517e-01 2.79322681e-03 -9.90301081e-02 -1.20806334e+01] [-3.34614702e-03 9.99979726e-01 -5.41770105e-03 7.66750322e-02] [ 9.90129674e-02 5.72241806e-03 9.95069689e-01 9.12017703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.962557844 meters Centerline goodness : 0.279120 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95053139e-01 3.05735007e-03 -9.92970439e-02 -1.20792802e+01] [-3.61098009e-03 9.99978920e-01 -5.39624773e-03 7.75266610e-02] [ 9.92784526e-02 5.72811289e-03 9.95043204e-01 9.11020873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.022557844 meters Centerline goodness : 0.197855 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95070966e-01 3.04408234e-03 -9.91186460e-02 -1.20800812e+01] [-3.60923229e-03 9.99978235e-01 -5.52293839e-03 7.82456965e-02] [ 9.90996764e-02 5.85345786e-03 9.95060295e-01 9.11420779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.082557844 meters Centerline goodness : 0.117984 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95079317e-01 2.88161782e-03 -9.90396390e-02 -1.20801851e+01] [-3.48605929e-03 9.99976338e-01 -5.93051300e-03 8.02772791e-02] [ 9.90202060e-02 6.24658887e-03 9.95065816e-01 9.11211990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.142557844 meters Centerline goodness : 0.240827 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95117560e-01 2.78769817e-03 -9.86573438e-02 -1.20813755e+01] [-3.40964485e-03 9.99975361e-01 -6.13606609e-03 8.14906275e-02] [ 9.86378075e-02 6.44249361e-03 9.95102546e-01 9.11413175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.202557844 meters Centerline goodness : 0.120518 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95079713e-01 2.72720489e-03 -9.90400246e-02 -1.20807817e+01] [-3.33607817e-03 9.99976539e-01 -5.98266007e-03 8.02837980e-02] [ 9.90213851e-02 6.28362893e-03 9.95065466e-01 9.12001079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.262557844 meters Centerline goodness : 0.120389 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95094682e-01 -1.39775654e-03 -9.89172394e-02 -1.20809756e+01] [ 4.68104822e-04 9.99955513e-01 -9.42086276e-03 7.81692101e-02] [ 9.89260069e-02 9.32834679e-03 9.95051068e-01 9.11949511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.322557844 meters Centerline goodness : 0.118765 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95109541e-01 -1.29889654e-03 -9.87689959e-02 -1.20815164e+01] [ 3.99670246e-04 9.99958299e-01 -9.12357863e-03 7.65089238e-02] [ 9.87767278e-02 9.03948511e-03 9.95068563e-01 9.12178556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.382557844 meters Centerline goodness : 0.130761 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95123527e-01 -1.17993867e-03 -9.86294772e-02 -1.20818509e+01] [ 2.79444234e-04 9.99958159e-01 -9.14338994e-03 7.73592780e-02] [ 9.86361391e-02 9.07124101e-03 9.95082220e-01 9.12055415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442557844 meters Centerline goodness : 0.118687 with order 2 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95102551e-01 -7.84483471e-04 -9.88448196e-02 -1.20813217e+01] [-1.28395975e-04 9.99957406e-01 -9.22878126e-03 7.91334543e-02] [ 9.88478492e-02 9.19627504e-03 9.95060064e-01 9.11907114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502557844 meters Centerline goodness : 0.117261 with order 2 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95135055e-01 -7.29605948e-04 -9.85174650e-02 -1.20823177e+01] [-1.88364146e-04 9.99956660e-01 -9.30821851e-03 7.99144790e-02] [ 9.85199865e-02 9.28149169e-03 9.95091788e-01 9.12025921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562557844 meters Centerline goodness : 0.138334 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95158813e-01 -7.85300951e-04 -9.82767534e-02 -1.20828049e+01] [-1.37459672e-04 9.99955976e-01 -9.38228574e-03 8.00504388e-02] [ 9.82797948e-02 9.35037343e-03 9.95114894e-01 9.11786553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622557844 meters Centerline goodness : 0.139941 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95155756e-01 -8.22279811e-04 -9.83073993e-02 -1.20830748e+01] [-1.00779121e-04 9.99955963e-01 -9.38418195e-03 7.99475425e-02] [ 9.83107865e-02 9.34863002e-03 9.95111849e-01 9.12286024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68255784400003 meters Centerline goodness : 0.205548 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.08, Z:0.91 [[ 9.95143584e-01 -9.21537370e-04 -9.84296595e-02 -1.20827213e+01] [-3.95423621e-05 9.99952352e-01 -9.76173029e-03 8.20574050e-02] [ 9.84339653e-02 9.71821541e-03 9.95096131e-01 9.12172194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74255784400003 meters Centerline goodness : 0.133557 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.09, Z:0.91 [[ 9.95143551e-01 -1.17931868e-03 -9.84272403e-02 -1.20824164e+01] [ 1.29845090e-04 9.99943085e-01 -1.06681550e-02 8.67158195e-02] [ 9.84342195e-02 1.06035654e-02 9.95087066e-01 9.11593720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80255784400003 meters Centerline goodness : 0.221796 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.09, Z:0.91 [[ 9.95138255e-01 2.66440350e-03 -9.84517871e-02 -1.20821964e+01] [-3.44617601e-03 9.99963863e-01 -7.77146236e-03 9.21941233e-02] [ 9.84275230e-02 8.07296168e-03 9.95111476e-01 9.11276368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86255784400004 meters Centerline goodness : 0.133952 with order 1 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.09, Z:0.91 [[ 9.95149196e-01 2.37206774e-03 -9.83486181e-02 -1.20827748e+01] [-3.19114068e-03 9.99961518e-01 -8.17179381e-03 9.38378392e-02] [ 9.83254494e-02 8.44599831e-03 9.95118471e-01 9.11666867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92255784400004 meters Centerline goodness : 0.133071 with order 3 Centerline is valid? [False, False] Translation: X:-12.08, Y:0.09, Z:0.91 [[ 9.95182121e-01 1.71511471e-03 -9.80285848e-02 -1.20841411e+01] [-2.56790169e-03 9.99959947e-01 -8.57386486e-03 9.42371208e-02] [ 9.80099533e-02 8.78428479e-03 9.95146665e-01 9.12474012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.982557844 meters Centerline goodness : 0.141845 with order 1 Centerline is valid? [False, False] Translation: X:-12.11, Y:0.10, Z:0.91 [[ 9.95118674e-01 -7.55255467e-03 -9.83960570e-02 -1.21050427e+01] [ 6.80248406e-03 9.99945211e-01 -7.95623299e-03 9.86289756e-02] [ 9.84507558e-02 7.24805841e-03 9.95115528e-01 9.09274337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.042557844 meters Centerline goodness : 0.122379 with order 2 Centerline is valid? [False, False] Translation: X:-12.11, Y:0.10, Z:0.91 [[ 9.95194739e-01 -4.05827007e-03 -9.78312949e-02 -1.21070324e+01] [ 3.60102227e-03 9.99981755e-01 -4.84995732e-03 1.00757522e-01] [ 9.78491924e-02 4.47435933e-03 9.95191196e-01 9.09851648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.102557844 meters Centerline goodness : 0.121911 with order 2 Centerline is valid? [False, False] Translation: X:-12.11, Y:0.11, Z:0.91 [[ 9.95240114e-01 -4.19211450e-03 -9.73629337e-02 -1.21087530e+01] [ 3.66425568e-03 9.99977608e-01 -5.59973251e-03 1.05572505e-01] [ 9.73842283e-02 5.21631574e-03 9.95233190e-01 9.10323758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.162557844 meters Centerline goodness : 0.154946 with order 1 Centerline is valid? [False, False] Translation: X:-12.15, Y:0.11, Z:0.91 [[ 9.94944060e-01 -5.55743600e-03 -1.00276782e-01 -1.21532177e+01] [ 4.89802884e-03 9.99964742e-01 -6.82087464e-03 1.07200814e-01] [ 1.00311153e-01 6.29523013e-03 9.94936200e-01 9.06940630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.222557844 meters Centerline goodness : 0.160003 with order 1 Centerline is valid? [False, False] Translation: X:-12.15, Y:0.11, Z:0.91 [[ 9.94981586e-01 -5.65941657e-03 -9.98980230e-02 -1.21547701e+01] [ 4.99114811e-03 9.99963474e-01 -6.93816930e-03 1.08271146e-01] [ 9.99336401e-02 6.40474487e-03 9.94973491e-01 9.07658865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.282557844 meters Centerline goodness : 0.156201 with order 1 Centerline is valid? [False, False] Translation: X:-12.16, Y:0.11, Z:0.91 [[ 9.94991860e-01 -5.70244473e-03 -9.97931885e-02 -1.21552796e+01] [ 5.03332479e-03 9.99963142e-01 -6.95555843e-03 1.08371003e-01] [ 9.98291740e-02 6.41843249e-03 9.94983889e-01 9.08005487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.342557844 meters Centerline goodness : 0.156818 with order 1 Centerline is valid? [False, False] Translation: X:-12.16, Y:0.11, Z:0.91 [[ 9.94986874e-01 -5.98944364e-03 -9.98260831e-02 -1.21553268e+01] [ 5.29900861e-03 9.99960183e-01 -7.18009882e-03 1.08580169e-01] [ 9.98651131e-02 6.61512481e-03 9.94978994e-01 9.08239793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.402557844 meters Centerline goodness : 0.152039 with order 1 Centerline is valid? [False, False] Translation: X:-12.20, Y:0.11, Z:0.90 [[ 9.94772513e-01 -5.85043853e-03 -1.01948122e-01 -1.22017070e+01] [ 5.20968003e-03 9.99964976e-01 -6.55026414e-03 1.05891175e-01] [ 1.01982873e-01 5.98490562e-03 9.94768151e-01 9.04898374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.462557844 meters Centerline goodness : 0.153715 with order 1 Centerline is valid? [False, False] Translation: X:-12.18, Y:0.10, Z:0.91 [[ 9.94838618e-01 -1.21848593e-04 -1.01469750e-01 -1.21785590e+01] [-8.76931907e-04 9.99951609e-01 -9.79847116e-03 1.04610995e-01] [ 1.01466034e-01 9.83687957e-03 9.94790370e-01 9.06578586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.522557844 meters Centerline goodness : 0.150799 with order 1 Centerline is valid? [False, False] Translation: X:-12.22, Y:0.10, Z:0.90 [[ 9.94462845e-01 -8.37451039e-04 -1.05085431e-01 -1.22199990e+01] [-1.69704080e-04 9.99954146e-01 -9.57484807e-03 9.74566060e-02] [ 1.05088631e-01 9.53966408e-03 9.94417103e-01 9.01949398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.582557844 meters Centerline goodness : 0.159770 with order 1 Centerline is valid? [False, False] Translation: X:-12.22, Y:0.09, Z:0.90 [[ 9.94494477e-01 -6.59919615e-04 -1.04786927e-01 -1.22211887e+01] [-2.71386705e-04 9.99960596e-01 -8.87311250e-03 9.34042834e-02] [ 1.04788654e-01 8.85269916e-03 9.94455111e-01 9.02579897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.642557844 meters Centerline goodness : 0.107896 with order 2 Centerline is valid? [False, False] Translation: X:-12.22, Y:0.09, Z:0.90 [[ 9.94517343e-01 -3.85122074e-04 -1.04571056e-01 -1.22219930e+01] [-4.70357087e-04 9.99966628e-01 -8.15605713e-03 8.97622141e-02] [ 1.04570707e-01 8.16052600e-03 9.94483973e-01 9.02909916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.702557844 meters Centerline goodness : 0.151912 with order 1 Centerline is valid? [False, False] Translation: X:-12.22, Y:0.09, Z:0.90 [[ 9.94525082e-01 -4.28131299e-03 -1.04410405e-01 -1.22220218e+01] [ 3.12941741e-03 9.99932452e-01 -1.11937090e-02 8.56912896e-02] [ 1.04451276e-01 1.08056806e-02 9.94471301e-01 9.02566610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.762557844 meters Centerline goodness : 0.132755 with order 3 Centerline is valid? [False, False] Translation: X:-12.22, Y:0.08, Z:0.90 [[ 9.94501533e-01 -4.01109788e-03 -1.04645169e-01 -1.22212309e+01] [ 2.93714920e-03 9.99941450e-01 -1.04148492e-02 8.07339870e-02] [ 1.04680817e-01 1.00502250e-02 9.94455087e-01 9.02428360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.822557844 meters Centerline goodness : 0.142888 with order 2 Centerline is valid? [False, False] Translation: X:-12.22, Y:0.08, Z:0.90 [[ 9.94525673e-01 -3.60918739e-03 -1.04430170e-01 -1.22219800e+01] [ 2.61481187e-03 9.99949949e-01 -9.65725908e-03 7.72152462e-02] [ 1.04459798e-01 9.33132684e-03 9.94485333e-01 9.02679590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.882557844 meters Centerline goodness : 0.122059 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.07, Z:0.90 [[ 9.94606208e-01 4.22267168e-03 -1.03637152e-01 -1.22416800e+01] [-5.31206209e-03 9.99933482e-01 -1.02378261e-02 6.72628877e-02] [ 1.03587027e-01 1.07331323e-02 9.94562481e-01 8.98782565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942557844 meters Centerline goodness : 0.226557 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.06, Z:0.90 [[ 9.94617693e-01 4.59223578e-03 -1.03511143e-01 -1.22420162e+01] [-5.60437389e-03 9.99939270e-01 -9.48934100e-03 6.34038110e-02] [ 1.03461280e-01 1.00183816e-02 9.94583026e-01 8.98749171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002557844 meters Centerline goodness : 0.126114 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.06, Z:0.90 [[ 9.94629580e-01 5.04005970e-03 -1.03375998e-01 -1.22422531e+01] [-5.96299808e-03 9.99945060e-01 -8.62087421e-03 5.94048773e-02] [ 1.03326868e-01 9.19100737e-03 9.94604989e-01 8.98582059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062557844 meters Centerline goodness : 0.121868 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.05, Z:0.90 [[ 9.94564063e-01 5.61876426e-03 -1.03974778e-01 -1.22403876e+01] [-6.42148066e-03 9.99952096e-01 -7.38716462e-03 5.20402960e-02] [ 1.03928290e-01 8.01468049e-03 9.94552500e-01 8.98238828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122557844 meters Centerline goodness : 0.224272 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.05, Z:0.90 [[ 9.94545816e-01 6.07061230e-03 -1.04123808e-01 -1.22402628e+01] [-6.78291645e-03 9.99955947e-01 -6.48820208e-03 4.77139645e-02] [ 1.04079833e-01 7.15907732e-03 9.94543179e-01 8.98617307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18255784400003 meters Centerline goodness : 0.195181 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.04, Z:0.90 [[ 9.94571479e-01 6.43409360e-03 -1.03856512e-01 -1.22411443e+01] [-7.07137832e-03 9.99958355e-01 -5.76916679e-03 4.42767657e-02] [ 1.03815067e-01 6.47225743e-03 9.94575559e-01 8.98848390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24255784400003 meters Centerline goodness : 0.126070 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.04, Z:0.90 [[ 9.94560101e-01 6.67459004e-03 -1.03950256e-01 -1.22400690e+01] [-7.27499129e-03 9.99958968e-01 -5.39777314e-03 4.24181889e-02] [ 1.03909963e-01 6.12464701e-03 9.94567850e-01 8.97713841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30255784400003 meters Centerline goodness : 0.238084 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.04, Z:0.90 [[ 9.94534306e-01 6.74350356e-03 -1.04192318e-01 -1.22390435e+01] [-7.34965809e-03 9.99958222e-01 -5.43480833e-03 4.28568262e-02] [ 1.04151315e-01 6.17088124e-03 9.94542319e-01 8.97141147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36255784400004 meters Centerline goodness : 0.122992 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.04, Z:0.90 [[ 9.94548579e-01 6.70120807e-03 -1.04058723e-01 -1.22396034e+01] [-7.31881834e-03 9.99957790e-01 -5.55450954e-03 4.34305797e-02] [ 1.04017108e-01 6.28581645e-03 9.94555644e-01 8.97386118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42255784400004 meters Centerline goodness : 0.139973 with order 1 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.04, Z:0.90 [[ 9.94594185e-01 6.63488408e-03 -1.03626181e-01 -1.22413153e+01] [-7.25594227e-03 9.99957897e-01 -5.61743421e-03 4.38612076e-02] [ 1.03584547e-01 6.33897299e-03 9.94600452e-01 8.98109239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.482557844 meters Centerline goodness : 0.166863 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.04, Z:0.90 [[ 9.94578148e-01 6.54346811e-03 -1.03785796e-01 -1.22405722e+01] [-7.17127814e-03 9.99958171e-01 -5.67709794e-03 4.40294162e-02] [ 1.03744306e-01 6.39059436e-03 9.94583470e-01 8.97666167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.542557844 meters Centerline goodness : 0.138272 with order 1 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.04, Z:0.90 [[ 9.94714939e-01 3.25292041e-03 -1.02623623e-01 -1.22447875e+01] [-4.15382532e-03 9.99954682e-01 -8.56624510e-03 4.34504020e-02] [ 1.02591107e-01 8.94725258e-03 9.94683372e-01 8.98648885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.602557844 meters Centerline goodness : 0.120879 with order 3 Centerline is valid? [False, False] Translation: X:-12.25, Y:0.04, Z:0.90 [[ 9.94781699e-01 3.08680604e-03 -1.01979620e-01 -1.22469934e+01] [-3.97251470e-03 9.99956126e-01 -8.48320792e-03 4.28179570e-02] [ 1.01948959e-01 8.84405553e-03 9.94750317e-01 8.99407157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.662557844 meters Centerline goodness : 0.118587 with order 3 Centerline is valid? [False, False] Translation: X:-12.24, Y:0.04, Z:0.90 [[ 9.94670990e-01 2.50423454e-03 -1.03069640e-01 -1.22437012e+01] [-3.42659388e-03 9.99955647e-01 -8.77280688e-03 4.23476622e-02] [ 1.03043100e-01 9.07923430e-03 9.94635454e-01 8.98875369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.722557844 meters Centerline goodness : 0.124804 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:0.04, Z:0.90 [[ 9.94303404e-01 -7.54292702e-03 -1.06319538e-01 -1.22624013e+01] [ 6.65841212e-03 9.99940230e-01 -8.67191824e-03 4.19597484e-02] [ 1.06378595e-01 7.91459853e-03 9.94294199e-01 8.96109214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.782557844 meters Centerline goodness : 0.122858 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:0.04, Z:0.90 [[ 9.94364358e-01 -7.67132376e-03 -1.05738706e-01 -1.22642601e+01] [ 6.83869141e-03 9.99942709e-01 -8.23476381e-03 3.85497135e-02] [ 1.05795820e-01 7.46524125e-03 9.94359852e-01 8.96671977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.842557844 meters Centerline goodness : 0.143712 with order 1 Centerline is valid? [False, False] Translation: X:-12.27, Y:0.03, Z:0.90 [[ 9.94426426e-01 -7.60747360e-03 -1.05158027e-01 -1.22663653e+01] [ 6.84443251e-03 9.99947581e-01 -7.61511298e-03 3.45643241e-02] [ 1.05210446e-01 6.85292257e-03 9.94426367e-01 8.97521446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.902557844 meters Centerline goodness : 0.219160 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:0.03, Z:0.90 [[ 9.94415080e-01 -6.99583374e-03 -1.05307674e-01 -1.22654960e+01] [ 6.35802811e-03 9.99959364e-01 -6.39108624e-03 2.85013679e-02] [ 1.05348105e-01 5.68584339e-03 9.94419151e-01 8.97001735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.962557844 meters Centerline goodness : 0.120798 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:0.02, Z:0.90 [[ 9.94414316e-01 -6.57215064e-03 -1.05342182e-01 -1.22653524e+01] [ 6.01716569e-03 9.99966298e-01 -5.58535455e-03 2.44134883e-02] [ 1.05375340e-01 4.92029516e-03 9.94420348e-01 8.96968603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.022557844 meters Centerline goodness : 0.132732 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:0.01, Z:0.89 [[ 9.94571650e-01 1.27701778e-03 -1.04046150e-01 -1.22864085e+01] [-1.86709429e-03 9.99982722e-01 -5.57409702e-03 1.41295894e-02] [ 1.04037234e-01 5.73810285e-03 9.94556850e-01 8.93820094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.082557844 meters Centerline goodness : 0.135161 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:0.01, Z:0.89 [[ 9.94614702e-01 1.95033967e-03 -1.03623311e-01 -1.22878171e+01] [-2.42091693e-03 9.99987321e-01 -4.41565354e-03 8.97335297e-03] [ 1.03613385e-01 4.64273736e-03 9.94606812e-01 8.94283628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.142557844 meters Centerline goodness : 0.133935 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:0.01, Z:0.89 [[ 9.94585633e-01 2.31768748e-03 -1.03894403e-01 -1.22866880e+01] [-2.71708164e-03 9.99989453e-01 -3.70286871e-03 5.10203581e-03] [ 1.03884725e-01 3.96510959e-03 9.94581440e-01 8.93783839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.202557844 meters Centerline goodness : 0.239660 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:0.00, Z:0.89 [[ 9.94569757e-01 2.50055151e-03 -1.04042036e-01 -1.22859915e+01] [-2.86296551e-03 9.99990343e-01 -3.33414809e-03 3.16419953e-03] [ 1.04032694e-01 3.61391161e-03 9.94567312e-01 8.93384915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.262557844 meters Centerline goodness : 0.118439 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.00, Z:0.89 [[ 9.94536363e-01 2.78827688e-03 -1.04353474e-01 -1.22846321e+01] [-3.08886766e-03 9.99991533e-01 -2.71900804e-03 -4.80932817e-04] [ 1.04345009e-01 3.02648644e-03 9.94536555e-01 8.92754083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.322557844 meters Centerline goodness : 0.122478 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.00, Z:0.89 [[ 9.94533608e-01 3.31824711e-03 -1.04364226e-01 -1.22839856e+01] [-3.55314433e-03 9.99991556e-01 -2.06490640e-03 -3.10232616e-03] [ 1.04356493e-01 2.42443997e-03 9.94537000e-01 8.91925775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.382557844 meters Centerline goodness : 0.118589 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.00, Z:0.89 [[ 9.94547083e-01 3.71410251e-03 -1.04222381e-01 -1.22839558e+01] [-3.94718813e-03 9.99990149e-01 -2.03025991e-03 -2.00780369e-03] [ 1.04213814e-01 2.43057442e-03 9.94551946e-01 8.91278323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442557844 meters Centerline goodness : 0.231061 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:0.00, Z:0.89 [[ 9.94554711e-01 3.71552149e-03 -1.04149517e-01 -1.22839047e+01] [-3.98081594e-03 9.99989340e-01 -2.33949584e-03 7.99087352e-07] [ 1.04139714e-01 2.74135666e-03 9.94558900e-01 8.90848724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502557844 meters Centerline goodness : 0.147191 with order 1 Centerline is valid? [False, False] Translation: X:-12.28, Y:0.00, Z:0.89 [[ 9.94576753e-01 3.53279059e-03 -1.03945190e-01 -1.22847003e+01] [-3.83034580e-03 9.99989118e-01 -2.66314146e-03 1.67545750e-03] [ 1.03934650e-01 3.04684460e-03 9.94579461e-01 8.91132787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562557844 meters Centerline goodness : 0.121942 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:0.00, Z:0.89 [[ 9.94655501e-01 4.58213106e-04 -1.03248359e-01 -1.22889203e+01] [-1.00985351e-03 9.99985495e-01 -5.29063988e-03 1.45443043e-03] [ 1.03244437e-01 5.36662978e-03 9.94641536e-01 8.93269938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622557844 meters Centerline goodness : 0.233223 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:0.00, Z:0.89 [[ 9.94575991e-01 -3.65082183e-05 -1.04012487e-01 -1.22868791e+01] [-5.35505658e-04 9.99984888e-01 -5.47154246e-03 9.50753893e-04] [ 1.04011114e-01 5.49756404e-03 9.94560941e-01 8.93283310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68255784400003 meters Centerline goodness : 0.142851 with order 1 Centerline is valid? [False, False] Translation: X:-12.33, Y:-0.00, Z:0.89 [[ 9.94295737e-01 -8.24857068e-04 -1.06655082e-01 -1.23320376e+01] [ 3.51217520e-04 9.99989994e-01 -4.45955996e-03 -2.90767662e-03] [ 1.06657693e-01 4.39666233e-03 9.94286078e-01 8.89711996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74255784400003 meters Centerline goodness : 0.138783 with order 1 Centerline is valid? [False, False] Translation: X:-12.33, Y:-0.00, Z:0.89 [[ 9.94290350e-01 -8.21572696e-04 -1.06705318e-01 -1.23319088e+01] [ 3.51404758e-04 9.99990148e-01 -4.42495512e-03 -3.38663181e-03] [ 1.06707902e-01 4.36219342e-03 9.94280843e-01 8.89727577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80255784400003 meters Centerline goodness : 0.120465 with order 3 Centerline is valid? [False, False] Translation: X:-12.33, Y:-0.00, Z:0.89 [[ 9.94330914e-01 -5.63495332e-04 -1.06328344e-01 -1.23334428e+01] [ 1.39455166e-04 9.99992009e-01 -3.99541864e-03 -4.95421796e-03] [ 1.06329745e-01 3.95794023e-03 9.94323046e-01 8.90420366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86255784400004 meters Centerline goodness : 0.131720 with order 3 Centerline is valid? [False, False] Translation: X:-12.34, Y:-0.01, Z:0.89 [[ 9.94383424e-01 -3.15893533e-04 -1.05837172e-01 -1.23351172e+01] [-3.24977506e-05 9.99994587e-01 -3.29002599e-03 -8.99788974e-03] [ 1.05837639e-01 3.27498678e-03 9.94378031e-01 8.90996366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92255784400004 meters Centerline goodness : 0.139454 with order 1 Centerline is valid? [False, False] Translation: X:-12.36, Y:-0.01, Z:0.89 [[ 9.94294186e-01 5.04412828e-03 -1.06553404e-01 -1.23578989e+01] [-5.71110102e-03 9.99965958e-01 -5.95530451e-03 -1.49638537e-02] [ 1.06519738e-01 6.52986191e-03 9.94289146e-01 8.88800056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.982557844 meters Centerline goodness : 0.120072 with order 3 Centerline is valid? [False, False] Translation: X:-12.34, Y:-0.02, Z:0.89 [[ 9.94178909e-01 1.42232712e-02 -1.06798859e-01 -1.23363711e+01] [-1.49882258e-02 9.99867422e-01 -6.36329358e-03 -2.12207829e-02] [ 1.06694192e-01 7.92697768e-03 9.94260284e-01 8.91495358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.042557844 meters Centerline goodness : 0.203134 with order 3 Centerline is valid? [False, False] Translation: X:-12.34, Y:-0.02, Z:0.89 [[ 9.94137409e-01 1.42081912e-02 -1.07186472e-01 -1.23357878e+01] [-1.49813391e-02 9.99867219e-01 -6.41130366e-03 -2.15668721e-02] [ 1.07081147e-01 7.97951370e-03 9.94218263e-01 8.92148897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.102557844 meters Centerline goodness : 0.118654 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.02, Z:0.90 [[ 9.94297741e-01 7.11849286e-03 -1.06401732e-01 -1.23176241e+01] [-7.63022874e-03 9.99961195e-01 -4.40314793e-03 -1.84178138e-02] [ 1.06366260e-01 5.18990960e-03 9.94313474e-01 8.95460622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.162557844 meters Centerline goodness : 0.137389 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.02, Z:0.90 [[ 9.94315952e-01 3.25651640e-03 -1.06419846e-01 -1.23173701e+01] [-4.04304925e-03 9.99966079e-01 -7.17593989e-03 -2.46261982e-02] [ 1.06392868e-01 7.56541218e-03 9.94295390e-01 8.95203124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.222557844 meters Centerline goodness : 0.120451 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.03, Z:0.89 [[ 9.94320070e-01 1.04541304e-03 -1.06426058e-01 -1.23161874e+01] [-1.94410529e-03 9.99963324e-01 -8.34089155e-03 -3.20806505e-02] [ 1.06413435e-01 8.50041933e-03 9.94285635e-01 8.94216111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.282557844 meters Centerline goodness : 0.223995 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.04, Z:0.89 [[ 9.94361795e-01 -2.91236093e-03 -1.06000656e-01 -1.23176555e+01] [ 1.72056983e-03 9.99934300e-01 -1.13329552e-02 -3.72816930e-02] [ 1.06026697e-01 1.10866761e-02 9.94301476e-01 8.94685153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.342557844 meters Centerline goodness : 0.119386 with order 3 Centerline is valid? [False, False] Translation: X:-12.31, Y:-0.05, Z:0.89 [[ 9.94220749e-01 -4.12893639e-03 -1.07275604e-01 -1.23119463e+01] [ 2.91780155e-03 9.99930253e-01 -1.14444434e-02 -4.77029678e-02] [ 1.07315375e-01 1.10652941e-02 9.94163452e-01 8.92483751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.402557844 meters Centerline goodness : 0.212434 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.89 [[ 9.93794906e-01 5.65611292e-03 -1.11084169e-01 -1.23227776e+01] [-7.00124160e-03 9.99906775e-01 -1.17227560e-02 -6.11598912e-02] [ 1.11007508e-01 1.24277423e-02 9.93741860e-01 8.89210542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.462557844 meters Centerline goodness : 0.119203 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.89 [[ 9.93787971e-01 6.07414279e-03 -1.11124135e-01 -1.23231821e+01] [-7.36405580e-03 9.99910149e-01 -1.12011045e-02 -6.36750191e-02] [ 1.11046113e-01 1.19498473e-02 9.93743408e-01 8.90225212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.522557844 meters Centerline goodness : 0.136638 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.89 [[ 9.93659770e-01 1.01053096e-02 -1.11973852e-01 -1.23202096e+01] [-1.10688486e-02 9.99906842e-01 -7.98669860e-03 -6.24917663e-02] [ 1.11882713e-01 9.17548272e-03 9.93679057e-01 8.90355807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.582557844 meters Centerline goodness : 0.193760 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.89 [[ 9.93628606e-01 1.08267650e-02 -1.12182771e-01 -1.23186297e+01] [-1.17754605e-02 9.99900264e-01 -7.79753608e-03 -6.15810908e-02] [ 1.12087160e-01 9.06885869e-03 9.93656995e-01 8.89324930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.642557844 meters Centerline goodness : 0.237202 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.89 [[ 9.93753053e-01 1.11307742e-02 -1.11044923e-01 -1.23220008e+01] [-1.20704284e-02 9.99896780e-01 -7.79324056e-03 -6.02221671e-02] [ 1.10946716e-01 9.08491639e-03 9.93784831e-01 8.89849906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.702557844 meters Centerline goodness : 0.221581 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.89 [[ 9.93746032e-01 1.08783010e-02 -1.11132745e-01 -1.23219655e+01] [-1.18667712e-02 9.99895661e-01 -8.23691300e-03 -5.82132498e-02] [ 1.11031546e-01 9.50418646e-03 9.93771436e-01 8.89951760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.762557844 meters Centerline goodness : 0.127346 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.89 [[ 9.93843896e-01 6.78281247e-03 -1.10581662e-01 -1.23231123e+01] [-8.12351017e-03 9.99898811e-01 -1.16780201e-02 -5.90047463e-02] [ 1.10491263e-01 1.25044403e-02 9.93798430e-01 8.89107535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.822557844 meters Centerline goodness : 0.132964 with order 3 Centerline is valid? [False, False] Translation: X:-12.33, Y:-0.06, Z:0.89 [[ 9.94026360e-01 4.05480508e-03 -1.09064908e-01 -1.23288927e+01] [-5.54013484e-03 9.99895948e-01 -1.33191962e-02 -6.34127016e-02] [ 1.08999552e-01 1.38438664e-02 9.93945393e-01 8.90049282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.882557844 meters Centerline goodness : 0.137275 with order 3 Centerline is valid? [False, False] Translation: X:-12.33, Y:-0.07, Z:0.89 [[ 9.94105617e-01 9.75814672e-04 -1.08411579e-01 -1.23309222e+01] [-2.63378965e-03 9.99881745e-01 -1.51512027e-02 -6.88242651e-02] [ 1.08383974e-01 1.53474290e-02 9.93990629e-01 8.89555431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942557844 meters Centerline goodness : 0.135620 with order 3 Centerline is valid? [False, False] Translation: X:-12.33, Y:-0.07, Z:0.89 [[ 9.94047561e-01 1.07818211e-03 -1.08941658e-01 -1.23291359e+01] [-2.66951353e-03 9.99891850e-01 -1.44624008e-02 -7.16371905e-02] [ 1.08914282e-01 1.46671354e-02 9.93942933e-01 8.88543212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002557844 meters Centerline goodness : 0.119864 with order 3 Centerline is valid? [False, False] Translation: X:-12.33, Y:-0.07, Z:0.89 [[ 9.94051537e-01 -3.20186645e-03 -1.08863631e-01 -1.23287764e+01] [ 1.23522362e-03 9.99834914e-01 -1.81278349e-02 -7.30634449e-02] [ 1.08903702e-01 1.78855312e-02 9.93891388e-01 8.87968475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062557844 meters Centerline goodness : 0.132504 with order 1 Centerline is valid? [False, False] Translation: X:-12.33, Y:-0.07, Z:0.89 [[ 9.94084804e-01 5.34221688e-04 -1.08605325e-01 -1.23300989e+01] [-2.16325633e-03 9.99886912e-01 -1.48823178e-02 -7.15272319e-02] [ 1.08585093e-01 1.50292272e-02 9.93973541e-01 8.88703874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122557844 meters Centerline goodness : 0.128981 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-0.08, Z:0.89 [[ 9.93893127e-01 1.06824154e-02 -1.09828677e-01 -1.23489233e+01] [-1.23976270e-02 9.99811438e-01 -1.49461436e-02 -7.63596944e-02] [ 1.09648306e-01 1.62164844e-02 9.93838153e-01 8.87015328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18255784400003 meters Centerline goodness : 0.130414 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.06, Z:0.89 [[ 0.99398793 0.01515022 -0.10843645 -12.30374618] [ -0.01681594 0.99975399 -0.0144633 -0.06141253] [ 0.10819065 0.0161998 0.99399816 0.89056517] [ 0. 0. 0. 1. ]] SLAMing on 315.24255784400003 meters Centerline goodness : 0.235941 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.06, Z:0.89 [[ 9.93902313e-01 1.89994401e-02 -1.08614975e-01 -1.23039431e+01] [-2.03724204e-02 9.99725801e-01 -1.15450495e-02 -5.71854988e-02] [ 1.08365843e-01 1.36874014e-02 9.94016851e-01 8.91531776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30255784400003 meters Centerline goodness : 0.134554 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.05, Z:0.89 [[ 9.94087590e-01 1.12619003e-02 -1.07995523e-01 -1.22859658e+01] [-1.25121859e-02 9.99862237e-01 -1.09065624e-02 -4.77039055e-02] [ 1.07857816e-01 1.21933384e-02 9.94091552e-01 8.94874926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36255784400004 meters Centerline goodness : 0.136360 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.05, Z:0.90 [[ 9.94091900e-01 1.08241237e-02 -1.08000615e-01 -1.22862455e+01] [-1.21165849e-02 9.99862535e-01 -1.13181128e-02 -4.66700014e-02] [ 1.07863260e-01 1.25598429e-02 9.94086398e-01 8.95047231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42255784400004 meters Centerline goodness : 0.130667 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.04, Z:0.89 [[ 9.94106925e-01 1.07347121e-02 -1.07871162e-01 -1.22860555e+01] [-1.20518003e-02 9.99860489e-01 -1.15653118e-02 -4.46844766e-02] [ 1.07731963e-01 1.27971983e-02 9.94097609e-01 8.94250168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.482557844 meters Centerline goodness : 0.134129 with order 1 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.03, Z:0.90 [[ 9.94231667e-01 3.58051144e-03 -1.07194084e-01 -1.22688709e+01] [-4.75259341e-03 9.99931665e-01 -1.06807397e-02 -3.28740643e-02] [ 1.07148516e-01 1.11285795e-02 9.94180743e-01 8.97380132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.542557844 meters Centerline goodness : 0.128467 with order 1 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.03, Z:0.90 [[ 9.94266873e-01 3.46425715e-03 -1.06870872e-01 -1.22695545e+01] [-4.68564228e-03 9.99926528e-01 -1.11796251e-02 -2.96020265e-02] [ 1.06824291e-01 1.16162896e-02 9.94210055e-01 8.97101299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.602557844 meters Centerline goodness : 0.135832 with order 1 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.03, Z:0.90 [[ 9.94305626e-01 3.25980719e-03 -1.06516172e-01 -1.22703631e+01] [-4.54687163e-03 9.99919535e-01 -1.18426632e-02 -2.57429789e-02] [ 1.06468997e-01 1.22595420e-02 9.94240442e-01 8.96905204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.662557844 meters Centerline goodness : 0.127460 with order 1 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.02, Z:0.90 [[ 9.94431827e-01 2.96092716e-03 -1.05340283e-01 -1.22744556e+01] [-4.31133015e-03 9.99911397e-01 -1.25940340e-02 -2.17807798e-02] [ 1.05293659e-01 1.29780650e-02 9.94356483e-01 8.98116946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.722557844 meters Centerline goodness : 0.157694 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.02, Z:0.90 [[ 9.94378354e-01 2.65479895e-03 -1.05851981e-01 -1.22730273e+01] [-4.04943144e-03 9.99907783e-01 -1.29625617e-02 -2.05107154e-02] [ 1.05807807e-01 1.33183311e-02 9.94297405e-01 8.97972761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.782557844 meters Centerline goodness : 0.139529 with order 1 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.02, Z:0.90 [[ 9.94223290e-01 2.01885044e-03 -1.07312508e-01 -1.22684758e+01] [-3.47473891e-03 9.99904425e-01 -1.33815609e-02 -2.03011455e-02] [ 1.07275236e-01 1.36771424e-02 9.94135282e-01 8.97029862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.842557844 meters Centerline goodness : 0.142092 with order 1 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.02, Z:0.90 [[ 9.94174822e-01 1.71392732e-03 -1.07765882e-01 -1.22671028e+01] [-3.15425187e-03 9.99907950e-01 -1.31962752e-02 -2.25175198e-02] [ 1.07733345e-01 1.34593253e-02 9.94088715e-01 8.96819069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.902557844 meters Centerline goodness : 0.120129 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.03, Z:0.90 [[ 9.94166302e-01 -2.15751271e-03 -1.07836493e-01 -1.22668046e+01] [ 4.30570921e-04 9.99871336e-01 -1.60351655e-02 -2.71430490e-02] [ 1.07857215e-01 1.58951899e-02 9.94039317e-01 8.96764925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.962557844 meters Centerline goodness : 0.268583 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-0.03, Z:0.90 [[ 9.94121018e-01 -5.63759865e-03 -1.08127791e-01 -1.22648514e+01] [ 3.68793672e-03 9.99827153e-01 -1.82225937e-02 -3.40800039e-02] [ 1.08211833e-01 1.77166950e-02 9.93969978e-01 8.95108604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.022557844 meters Centerline goodness : 0.161967 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-0.04, Z:0.90 [[ 9.94104339e-01 -5.27465490e-03 -1.08299312e-01 -1.22647062e+01] [ 3.42055392e-03 9.99844514e-01 -1.72987920e-02 -3.83824134e-02] [ 1.08373718e-01 1.68263605e-02 9.93967812e-01 8.95366098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.082557844 meters Centerline goodness : 0.244033 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.05, Z:0.89 [[ 9.94490641e-01 2.23246422e-04 -1.04825165e-01 -1.22809439e+01] [-2.18081944e-03 9.99825363e-01 -1.85604008e-02 -4.83686547e-02] [ 1.04802715e-01 1.86867497e-02 9.94317452e-01 8.90986863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.142557844 meters Centerline goodness : 0.198634 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.05, Z:0.89 [[ 9.94492729e-01 9.90041764e-04 -1.04800917e-01 -1.22809880e+01] [-2.80344762e-03 9.99848870e-01 -1.71574466e-02 -5.48944739e-02] [ 1.04768092e-01 1.73567597e-02 9.94345207e-01 8.90955282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.202557844 meters Centerline goodness : 0.236069 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.06, Z:0.89 [[ 9.94282262e-01 2.52201291e-03 -1.06754033e-01 -1.22751428e+01] [-4.25002803e-03 9.99863559e-01 -1.59624758e-02 -5.78498041e-02] [ 1.06699210e-01 1.63249142e-02 9.94157319e-01 8.90465827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.262557844 meters Centerline goodness : 0.095292 with order 1 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.06, Z:0.89 [[ 9.94221718e-01 2.86486362e-03 -1.07307816e-01 -1.22735196e+01] [-4.60835544e-03 9.99861322e-01 -1.60031281e-02 -5.75110033e-02] [ 1.07247088e-01 1.64051701e-02 9.94097044e-01 8.90688944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.322557844 meters Centerline goodness : 0.123154 with order 1 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.06, Z:0.89 [[ 9.94341829e-01 3.66749709e-03 -1.06164389e-01 -1.22767235e+01] [-5.32941730e-03 9.99867598e-01 -1.53747510e-02 -5.83681811e-02] [ 1.06093945e-01 1.58535523e-02 9.94229722e-01 8.90853103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.382557844 meters Centerline goodness : 0.215458 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.06, Z:0.89 [[ 9.94349862e-01 3.68530743e-03 -1.06088504e-01 -1.22769490e+01] [-5.35207430e-03 9.99866616e-01 -1.54306868e-02 -5.78223949e-02] [ 1.06017487e-01 1.59112948e-02 9.94236955e-01 8.90885752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442557844 meters Centerline goodness : 0.200480 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.06, Z:0.89 [[ 9.94362379e-01 3.68467124e-03 -1.05971144e-01 -1.22776039e+01] [-5.34222129e-03 9.99867727e-01 -1.53619178e-02 -5.83667401e-02] [ 1.05900523e-01 1.58414344e-02 9.94250536e-01 8.91322302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502557844 meters Centerline goodness : 0.124167 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.06, Z:0.89 [[ 9.94393893e-01 3.66697439e-03 -1.05675629e-01 -1.22790266e+01] [-5.29335241e-03 9.99871767e-01 -1.51139213e-02 -6.00377845e-02] [ 1.05606655e-01 1.55885694e-02 9.94285789e-01 8.92236962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562557844 meters Centerline goodness : 0.238062 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.06, Z:0.89 [[ 9.94334531e-01 3.64515991e-03 -1.06233489e-01 -1.22770635e+01] [-5.25909338e-03 9.99874917e-01 -1.49161455e-02 -6.15251747e-02] [ 1.06165830e-01 1.53903304e-02 9.94229327e-01 8.91520457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622557844 meters Centerline goodness : 0.225548 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.06, Z:0.89 [[ 9.94363760e-01 3.58533146e-03 -1.05961586e-01 -1.22783680e+01] [-5.21730686e-03 9.99871948e-01 -1.51283930e-02 -6.05444004e-02] [ 1.05893778e-01 1.55959598e-02 9.94255135e-01 8.92387565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68255784400003 meters Centerline goodness : 0.220367 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.06, Z:0.89 [[ 9.94239173e-01 6.35981166e-03 -1.06995419e-01 -1.22742768e+01] [-7.82762975e-03 9.99880857e-01 -1.33041415e-02 -5.55885477e-02] [ 1.06898059e-01 1.40650192e-02 9.94170499e-01 8.91547274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74255784400003 meters Centerline goodness : 0.224340 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.05, Z:0.89 [[ 9.94167597e-01 9.38488225e-03 -1.07437018e-01 -1.22709749e+01] [-1.06663657e-02 9.99878590e-01 -1.13593278e-02 -4.93593719e-02] [ 1.07317368e-01 1.24390381e-02 9.94146998e-01 8.89667680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80255784400003 meters Centerline goodness : 0.123031 with order 3 Centerline is valid? [False, False] Translation: X:-12.25, Y:-0.04, Z:0.89 [[ 9.94332833e-01 2.05381019e-02 -1.04309178e-01 -1.22519744e+01] [-2.18217774e-02 9.99699363e-01 -1.11800545e-02 -4.37194405e-02] [ 1.04048201e-01 1.33929070e-02 9.94482077e-01 8.91453143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86255784400004 meters Centerline goodness : 0.126880 with order 3 Centerline is valid? [False, False] Translation: X:-12.25, Y:-0.04, Z:0.89 [[ 9.94355626e-01 2.02089210e-02 -1.04156077e-01 -1.22523290e+01] [-2.15763369e-02 9.99694963e-01 -1.20184580e-02 -3.93279033e-02] [ 1.03881426e-01 1.41979280e-02 9.94488345e-01 8.91283026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92255784400004 meters Centerline goodness : 0.132328 with order 3 Centerline is valid? [False, False] Translation: X:-12.23, Y:-0.03, Z:0.89 [[ 0.99421615 0.01294068 -0.10661514 -12.23151073] [ -0.01433383 0.99982147 -0.0123111 -0.0277785 ] [ 0.10643679 0.01376809 0.99422414 0.89345685] [ 0. 0. 0. 1. ]] SLAMing on 316.982557844 meters Centerline goodness : 0.144956 with order 1 Centerline is valid? [False, False] Translation: X:-12.23, Y:-0.03, Z:0.89 [[ 9.94323537e-01 9.55316323e-03 -1.05969057e-01 -1.22331703e+01] [-1.12393080e-02 9.99819381e-01 -1.53258954e-02 -2.85871679e-02] [ 1.05803506e-01 1.64299174e-02 9.94251314e-01 8.93010224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.042557844 meters Centerline goodness : 0.224775 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-0.03, Z:0.89 [[ 9.94308377e-01 -1.77364711e-03 -1.06525607e-01 -1.22561638e+01] [ 6.27676986e-05 9.99870997e-01 -1.60619395e-02 -2.75340188e-02] [ 1.06540353e-01 1.59638347e-02 9.94180220e-01 8.91891451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.102557844 meters Centerline goodness : 0.129771 with order 3 Centerline is valid? [False, False] Translation: X:-12.25, Y:-0.03, Z:0.89 [[ 9.94217465e-01 -2.35405426e-03 -1.07359632e-01 -1.22535268e+01] [ 6.41012816e-04 9.99871981e-01 -1.59878226e-02 -2.97093853e-02] [ 1.07383524e-01 1.58265536e-02 9.94091695e-01 8.91399057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.162557844 meters Centerline goodness : 0.120681 with order 3 Centerline is valid? [False, False] Translation: X:-12.25, Y:-0.03, Z:0.89 [[ 9.94170216e-01 -2.47536559e-03 -1.07793576e-01 -1.22524412e+01] [ 7.94919114e-04 9.99877533e-01 -1.56296655e-02 -3.29182258e-02] [ 1.07819064e-01 1.54528608e-02 9.94050431e-01 8.91546121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.222557844 meters Centerline goodness : 0.144569 with order 1 Centerline is valid? [False, False] Translation: X:-12.25, Y:-0.04, Z:0.89 [[ 9.94207723e-01 -2.24038542e-03 -1.07452237e-01 -1.22538401e+01] [ 6.18804081e-04 9.99885462e-01 -1.51221516e-02 -3.54385818e-02] [ 1.07473809e-01 1.49680681e-02 9.94095236e-01 8.92203147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.282557844 meters Centerline goodness : 0.228232 with order 3 Centerline is valid? [False, False] Translation: X:-12.25, Y:-0.04, Z:0.89 [[ 9.94265051e-01 -1.79148213e-03 -1.06928947e-01 -1.22549179e+01] [ 2.06487185e-04 9.99889977e-01 -1.48321112e-02 -3.52742547e-02] [ 1.06943754e-01 1.47249704e-02 9.94156028e-01 8.91828638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.342557844 meters Centerline goodness : 0.120932 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-0.03, Z:0.89 [[ 9.94293807e-01 -1.76154878e-03 -1.06661716e-01 -1.22558457e+01] [ 1.63650434e-04 9.99887662e-01 -1.49878920e-02 -3.44038453e-02] [ 1.06676135e-01 1.48849130e-02 9.94182399e-01 8.92070835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.402557844 meters Centerline goodness : 0.124595 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-0.03, Z:0.89 [[ 9.94352695e-01 -1.63422063e-03 -1.06113374e-01 -1.22573974e+01] [ 4.63676240e-05 9.99888025e-01 -1.49644838e-02 -3.38487746e-02] [ 1.06125948e-01 1.48750545e-02 9.94241427e-01 8.92170633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.462557844 meters Centerline goodness : 0.199213 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-0.03, Z:0.89 [[ 9.94348333e-01 -1.65801533e-03 -1.06153870e-01 -1.22569926e+01] [ 6.39138962e-05 9.99887213e-01 -1.50185354e-02 -3.38221417e-02] [ 1.06166798e-01 1.49268709e-02 9.94236290e-01 8.91747020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.522557844 meters Centerline goodness : 0.186465 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-0.03, Z:0.89 [[ 9.94325697e-01 -1.61423045e-03 -1.06366358e-01 -1.22563872e+01] [ 1.47752825e-05 9.99886948e-01 -1.50363005e-02 -3.33181552e-02] [ 1.06378605e-01 1.49494083e-02 9.94213311e-01 8.91628031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.582557844 meters Centerline goodness : 0.120656 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-0.03, Z:0.89 [[ 9.94312850e-01 -1.61809258e-03 -1.06486327e-01 -1.22556419e+01] [ 7.33228254e-06 9.99885609e-01 -1.51251053e-02 -3.27522266e-02] [ 1.06498619e-01 1.50383058e-02 9.94199122e-01 8.91064872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.642557844 meters Centerline goodness : 0.218732 with order 3 Centerline is valid? [False, False] Translation: X:-12.25, Y:-0.03, Z:0.89 [[ 9.94296271e-01 -1.72384760e-03 -1.06639365e-01 -1.22546975e+01] [ 8.13214007e-05 9.99881332e-01 -1.54050568e-02 -3.16558946e-02] [ 1.06653266e-01 1.53085184e-02 9.94178420e-01 8.90312923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.702557844 meters Centerline goodness : 0.216114 with order 3 Centerline is valid? [False, False] Translation: X:-12.26, Y:-0.03, Z:0.89 [[ 9.94327161e-01 -1.57976387e-03 -1.06353190e-01 -1.22559743e+01] [-3.85964109e-05 9.99884274e-01 -1.52130698e-02 -3.22136340e-02] [ 1.06364915e-01 1.51308734e-02 9.94212030e-01 8.90950861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.762557844 meters Centerline goodness : 0.231473 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.04, Z:0.89 [[ 9.94132857e-01 -3.17790300e-03 -1.08119208e-01 -1.23031741e+01] [ 1.57819036e-03 9.99888068e-01 -1.48781741e-02 -3.65685003e-02] [ 1.08154387e-01 1.46202490e-02 9.94026598e-01 8.87692484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.822557844 meters Centerline goodness : 0.118376 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.03, Z:0.89 [[ 9.94298954e-01 -8.75968348e-03 -1.06267857e-01 -1.22826354e+01] [ 7.49684071e-03 9.99896528e-01 -1.22772422e-02 -3.18435462e-02] [ 1.06364406e-01 1.14105759e-02 9.94261742e-01 8.89330801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.882557844 meters Centerline goodness : 0.118854 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.03, Z:0.89 [[ 9.94216086e-01 -9.03562453e-03 -1.07017439e-01 -1.22804308e+01] [ 7.70170825e-03 9.99887501e-01 -1.28712275e-02 -2.92359541e-02] [ 1.07121700e-01 1.19725644e-02 9.94173827e-01 8.89000185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942557844 meters Centerline goodness : 0.143558 with order 1 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.03, Z:0.89 [[ 9.94173831e-01 -9.25991304e-03 -1.07390167e-01 -1.22787054e+01] [ 7.86882452e-03 9.99879654e-01 -1.33701182e-02 -2.68430309e-02] [ 1.07501049e-01 1.24471873e-02 9.94127050e-01 8.87946153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002557844 meters Centerline goodness : 0.221186 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.03, Z:0.89 [[ 9.94194366e-01 -9.42202988e-03 -1.07185763e-01 -1.22796052e+01] [ 8.00075861e-03 9.99874385e-01 -1.36822014e-02 -2.53033911e-02] [ 1.07301213e-01 1.27452002e-02 9.94144863e-01 8.88397655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062557844 meters Centerline goodness : 0.229107 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.02, Z:0.89 [[ 9.94306728e-01 -1.01743614e-02 -1.06068908e-01 -1.22832307e+01] [ 8.72267014e-03 9.99861960e-01 -1.41412532e-02 -2.45423606e-02] [ 1.06198145e-01 1.31355391e-02 9.94258222e-01 8.89378435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122557844 meters Centerline goodness : 0.137735 with order 1 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.02, Z:0.89 [[ 9.94308361e-01 -1.04690098e-02 -1.06024914e-01 -1.22833529e+01] [ 9.00887989e-03 9.99858005e-01 -1.42411684e-02 -2.46888871e-02] [ 1.06158950e-01 1.32049471e-02 9.94261488e-01 8.89437997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18255784400003 meters Centerline goodness : 0.119179 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.02, Z:0.89 [[ 9.94276445e-01 -1.08536538e-02 -1.06285223e-01 -1.22826409e+01] [ 9.37859069e-03 9.99852785e-01 -1.43683585e-02 -2.49687225e-02] [ 1.06425525e-01 1.32893148e-02 9.94231865e-01 8.89461270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24255784400003 meters Centerline goodness : 0.121299 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.03, Z:0.89 [[ 9.94239374e-01 -1.08905246e-02 -1.06627684e-01 -1.22816156e+01] [ 9.42894418e-03 9.99854690e-01 -1.42018891e-02 -2.60957140e-02] [ 1.06766856e-01 1.31146909e-02 9.94197588e-01 8.89306070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30255784400003 meters Centerline goodness : 0.119454 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.03, Z:0.89 [[ 9.94316697e-01 -1.10709504e-02 -1.05885504e-01 -1.22842903e+01] [ 9.64776059e-03 9.99856237e-01 -1.39436403e-02 -2.78490285e-02] [ 1.06024651e-01 1.28428364e-02 9.94280562e-01 8.90017240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36255784400004 meters Centerline goodness : 0.118786 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.04, Z:0.89 [[ 9.94728684e-01 -4.40042385e-03 -1.02447455e-01 -1.23047992e+01] [ 3.01756612e-03 9.99902291e-01 -1.36492831e-02 -3.71851920e-02] [ 1.02497508e-01 1.32681914e-02 9.94644769e-01 8.86669448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42255784400004 meters Centerline goodness : 0.174516 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.04, Z:0.89 [[ 9.94742693e-01 -4.13266661e-03 -1.02322505e-01 -1.23044788e+01] [ 2.78584230e-03 9.99907644e-01 -1.33019482e-02 -3.84132382e-02] [ 1.02368028e-01 1.29469614e-02 9.94662336e-01 8.85769340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.482557844 meters Centerline goodness : 0.197533 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.04, Z:0.89 [[ 9.94750922e-01 -3.88332096e-03 -1.02252255e-01 -1.23042469e+01] [ 2.59029826e-03 9.99915039e-01 -1.27751652e-02 -4.13015249e-02] [ 1.02293178e-01 1.24432436e-02 9.94676466e-01 8.85265387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.542557844 meters Centerline goodness : 0.135866 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.05, Z:0.88 [[ 9.94530793e-01 -5.60904596e-03 -1.04293050e-01 -1.22967850e+01] [ 4.19978198e-03 9.99896957e-01 -1.37272376e-02 -4.97032973e-02] [ 1.04359300e-01 1.32141525e-02 9.94451870e-01 8.83109433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.602557844 meters Centerline goodness : 0.096427 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.06, Z:0.88 [[ 9.94475375e-01 -5.03920984e-03 -1.04849107e-01 -1.22948601e+01] [ 3.74374336e-03 9.99914254e-01 -1.25486731e-02 -5.55515111e-02] [ 1.04903352e-01 1.20868182e-02 9.94408968e-01 8.82491839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.662557844 meters Centerline goodness : 0.131703 with order 1 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.06, Z:0.88 [[ 9.94480942e-01 -4.48629628e-03 -1.04821418e-01 -1.22949971e+01] [ 3.30894905e-03 9.99929507e-01 -1.14031395e-02 -6.15329157e-02] [ 1.04865187e-01 1.09933562e-02 9.94425683e-01 8.82628983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.722557844 meters Centerline goodness : 0.182901 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.07, Z:0.88 [[ 9.94486034e-01 -3.74057115e-03 -1.04802366e-01 -1.22947506e+01] [ 2.66963472e-03 9.99942801e-01 -1.03570443e-02 -6.61407309e-02] [ 1.04835112e-01 1.00201519e-02 9.94439136e-01 8.82315269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.782557844 meters Centerline goodness : 0.125362 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.94512534e-01 -3.31180693e-03 -1.04565061e-01 -1.22952018e+01] [ 2.28293572e-03 9.99947815e-01 -9.95768480e-03 -6.73462698e-02] [ 1.04592582e-01 9.66432703e-03 9.94468196e-01 8.82005084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.842557844 meters Centerline goodness : 0.199499 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.94611334e-01 -2.77670028e-03 -1.03636788e-01 -1.22982358e+01] [ 1.83586612e-03 9.99956247e-01 -9.17247207e-03 -7.04171511e-02] [ 1.03657723e-01 8.93278141e-03 9.94572914e-01 8.82807544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.902557844 meters Centerline goodness : 0.207074 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.94598342e-01 -2.76514048e-03 -1.03761709e-01 -1.22977600e+01] [ 1.82695653e-03 9.99956600e-01 -9.13566813e-03 -7.06443762e-02] [ 1.03782467e-01 8.89675225e-03 9.94560228e-01 8.82589434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.962557844 meters Centerline goodness : 0.128887 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.94591320e-01 -2.71402642e-03 -1.03830348e-01 -1.22969788e+01] [ 1.76945294e-03 9.99956221e-01 -9.18830656e-03 -6.97175190e-02] [ 1.03850740e-01 8.95488703e-03 9.94552580e-01 8.81723451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.022557844 meters Centerline goodness : 0.199630 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.94624469e-01 -2.81433508e-03 -1.03509637e-01 -1.22982371e+01] [ 1.85890615e-03 9.99954787e-01 -9.32564656e-03 -6.90699192e-02] [ 1.03531203e-01 9.08310155e-03 9.94584731e-01 8.82289930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.082557844 meters Centerline goodness : 0.225002 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.94653979e-01 -2.91080287e-03 -1.03223005e-01 -1.22995063e+01] [ 1.95033073e-03 9.99953874e-01 -9.40453526e-03 -6.88777347e-02] [ 1.03245618e-01 9.15293942e-03 9.94613777e-01 8.82955098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.142557844 meters Centerline goodness : 0.095569 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.94636525e-01 -3.05043697e-03 -1.03387029e-01 -1.22987335e+01] [ 2.06595084e-03 9.99951515e-01 -9.62808304e-03 -6.78619411e-02] [ 1.03411386e-01 9.36285054e-03 9.94594602e-01 8.82462034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.202557844 meters Centerline goodness : 0.128505 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.94616206e-01 -3.18149156e-03 -1.03578380e-01 -1.22982066e+01] [ 2.17126835e-03 9.99948987e-01 -9.86451594e-03 -6.67733776e-02] [ 1.03604480e-01 9.58651096e-03 9.94572376e-01 8.82438898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.262557844 meters Centerline goodness : 0.130840 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.94742600e-01 -2.22016909e-03 -1.02382769e-01 -1.23031645e+01] [ 1.29340084e-03 9.99957598e-01 -9.11749158e-03 -6.69916078e-02] [ 1.02398670e-01 8.93713532e-03 9.94703292e-01 8.84518884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.322557844 meters Centerline goodness : 0.125407 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.06, Z:0.88 [[ 9.94718990e-01 -1.97611808e-03 -1.02616893e-01 -1.23020709e+01] [ 1.00111130e-03 9.99953877e-01 -9.55205806e-03 -6.33712516e-02] [ 1.02631036e-01 9.39888261e-03 9.94675088e-01 8.83702869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.382557844 meters Centerline goodness : 0.187372 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.05, Z:0.88 [[ 9.94664190e-01 1.25944761e-03 -1.03157955e-01 -1.22985848e+01] [-2.07492188e-03 9.99967441e-01 -7.79817599e-03 -5.45463574e-02] [ 1.03144775e-01 7.97061110e-03 9.94634418e-01 8.81297165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442557844 meters Centerline goodness : 0.096944 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.05, Z:0.88 [[ 9.94749772e-01 1.24582055e-03 -1.02329566e-01 -1.23015248e+01] [-2.12401098e-03 9.99961844e-01 -8.47346919e-03 -4.96509032e-02] [ 1.02315105e-01 8.64633066e-03 9.94714462e-01 8.82071232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502557844 meters Centerline goodness : 0.128950 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.04, Z:0.88 [[ 9.94762507e-01 5.73464450e-04 -1.02211667e-01 -1.23014348e+01] [-1.58765037e-03 9.99950313e-01 -9.84133353e-03 -4.27423989e-02] [ 1.02200945e-01 9.95206601e-03 9.94713991e-01 8.81408680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562557844 meters Centerline goodness : 0.096002 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.04, Z:0.88 [[ 9.94784101e-01 1.86284423e-04 -1.02002734e-01 -1.23016531e+01] [-1.27120138e-03 9.99943315e-01 -1.05712564e-02 -3.92916392e-02] [ 1.01994983e-01 1.06457838e-02 9.94727948e-01 8.80884789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622557844 meters Centerline goodness : 0.131409 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.03, Z:0.88 [[ 9.94799808e-01 -3.26293363e-04 -1.01849086e-01 -1.23023166e+01] [-8.64685460e-04 9.99931772e-01 -1.16491966e-02 -3.35004260e-02] [ 1.01845938e-01 1.16766860e-02 9.94731652e-01 8.81065122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68255784400003 meters Centerline goodness : 0.097619 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.03, Z:0.88 [[ 9.94803607e-01 -7.52070482e-04 -1.01809716e-01 -1.23021310e+01] [-5.34395165e-04 9.99920372e-01 -1.26081173e-02 -2.84324177e-02] [ 1.01811091e-01 1.25970072e-02 9.94723990e-01 8.80613877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74255784400003 meters Centerline goodness : 0.136633 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.02, Z:0.88 [[ 9.94800694e-01 -1.40601648e-03 -1.01831241e-01 -1.23017299e+01] [-1.05097727e-05 9.99903270e-01 -1.39086551e-02 -2.17328308e-02] [ 1.01840947e-01 1.38374099e-02 9.94704452e-01 8.80069672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80255784400003 meters Centerline goodness : 0.135039 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.02, Z:0.88 [[ 9.94761635e-01 -1.90871595e-03 -1.02203943e-01 -1.23007041e+01] [ 4.19435299e-04 9.99893455e-01 -1.45911634e-02 -1.90824250e-02] [ 1.02220904e-01 1.44718617e-02 9.94656449e-01 8.79982891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86255784400004 meters Centerline goodness : 0.171566 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.02, Z:0.88 [[ 9.94746216e-01 -2.57939358e-03 -1.02339204e-01 -1.23007875e+01] [ 1.04496343e-03 9.99886281e-01 -1.50443503e-02 -1.83503429e-02] [ 1.02366372e-01 1.48583698e-02 9.94635790e-01 8.80658104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92255784400004 meters Centerline goodness : 0.136270 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.02, Z:0.88 [[ 9.94799326e-01 -3.41811684e-03 -1.01796940e-01 -1.23023332e+01] [ 1.84264296e-03 9.99877135e-01 -1.55666458e-02 -1.75121498e-02] [ 1.01837641e-01 1.52981133e-02 9.94683398e-01 8.80985797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.982557844 meters Centerline goodness : 0.251914 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.02, Z:0.88 [[ 9.94784834e-01 -3.50021013e-03 -1.01935681e-01 -1.23016188e+01] [ 1.91240810e-03 9.99875388e-01 -1.56700713e-02 -1.69076204e-02] [ 1.01977827e-01 1.53934067e-02 9.94667565e-01 8.80474524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.042557844 meters Centerline goodness : 0.235334 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.02, Z:0.88 [[ 9.94753664e-01 -3.65830632e-03 -1.02233877e-01 -1.23009422e+01] [ 2.05672347e-03 9.99873579e-01 -1.57668932e-02 -1.71980148e-02] [ 1.02278633e-01 1.54739079e-02 9.94635430e-01 8.80687882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.102557844 meters Centerline goodness : 0.225959 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.02, Z:0.88 [[ 9.94736316e-01 -3.72214944e-03 -1.02400229e-01 -1.23006248e+01] [ 2.11886641e-03 9.99873537e-01 -1.57613452e-02 -1.80141987e-02] [ 1.02445945e-01 1.54614100e-02 9.94618406e-01 8.80800913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.162557844 meters Centerline goodness : 0.117312 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.02, Z:0.88 [[ 9.94731626e-01 -3.60441337e-03 -1.02449989e-01 -1.23000902e+01] [ 2.00733883e-03 9.99874926e-01 -1.56876458e-02 -1.79079847e-02] [ 1.02493720e-01 1.53993456e-02 9.94614447e-01 8.80256064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.222557844 meters Centerline goodness : 0.132179 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.03, Z:0.88 [[ 9.95046417e-01 2.05880546e-03 -9.93900831e-02 -1.23173673e+01] [-3.69138109e-03 9.99861230e-01 -1.62448377e-02 -2.70955856e-02] [ 9.93428458e-02 1.65312542e-02 9.94915934e-01 8.75553237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.282557844 meters Centerline goodness : 0.222076 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.03, Z:0.88 [[ 9.95055963e-01 2.40204268e-03 -9.92867615e-02 -1.23179966e+01] [-3.96633368e-03 9.99871055e-01 -1.55608966e-02 -3.01435378e-02] [ 9.92365810e-02 1.58777673e-02 9.94937183e-01 8.76030988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.342557844 meters Centerline goodness : 0.117660 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.03, Z:0.88 [[ 9.95009872e-01 2.61479889e-03 -9.97422587e-02 -1.23165046e+01] [-4.12095134e-03 9.99880535e-01 -1.48974043e-02 -3.40287747e-02] [ 9.96913893e-02 1.52340974e-02 9.94901779e-01 8.75682042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.402557844 meters Centerline goodness : 0.136642 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.04, Z:0.88 [[ 9.95040171e-01 3.06540976e-03 -9.94266638e-02 -1.23177666e+01] [-4.45853659e-03 9.99894940e-01 -1.37924300e-02 -3.98120184e-02] [ 9.93739386e-02 1.41673193e-02 9.94949299e-01 8.76239549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.462557844 meters Centerline goodness : 0.136265 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.04, Z:0.88 [[ 9.95038168e-01 3.19158683e-03 -9.94427324e-02 -1.23175798e+01] [-4.56029777e-03 9.99897937e-01 -1.35395441e-02 -4.11545056e-02] [ 9.93893704e-02 1.39258516e-02 9.94951166e-01 8.76056187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.522557844 meters Centerline goodness : 0.132138 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.04, Z:0.87 [[ 9.95023700e-01 3.29654256e-03 -9.95839813e-02 -1.23164777e+01] [-4.68661046e-03 9.99894783e-01 -1.37280390e-02 -3.94779220e-02] [ 9.95282483e-02 1.41264355e-02 9.94934456e-01 8.74999830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.582557844 meters Centerline goodness : 0.217892 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.04, Z:0.88 [[ 9.95067253e-01 3.26856240e-03 -9.91487650e-02 -1.23181422e+01] [-4.66762177e-03 9.99892746e-01 -1.38820261e-02 -3.85167804e-02] [ 9.90927566e-02 1.42763385e-02 9.94975785e-01 8.75656523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.642557844 meters Centerline goodness : 0.132307 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.04, Z:0.88 [[ 9.95055007e-01 3.15193355e-03 -9.92753694e-02 -1.23177749e+01] [-4.56835814e-03 9.99890949e-01 -1.40435419e-02 -3.78247546e-02] [ 9.92202789e-02 1.44276221e-02 9.94960894e-01 8.75572113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.702557844 meters Centerline goodness : 0.119462 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.03, Z:0.88 [[ 9.94848942e-01 -5.01095854e-03 -1.01244620e-01 -1.22947254e+01] [ 3.59669734e-03 9.99893465e-01 -1.41464717e-02 -3.25978069e-02] [ 1.01304721e-01 1.37094562e-02 9.94760978e-01 8.77894036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.762557844 meters Centerline goodness : 0.118473 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.03, Z:0.88 [[ 9.94873900e-01 -5.43425278e-03 -1.00977189e-01 -1.22958067e+01] [ 4.01866210e-03 9.99890857e-01 -1.42170490e-02 -3.36019056e-02] [ 1.01043427e-01 1.37383778e-02 9.94787155e-01 8.78453609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.822557844 meters Centerline goodness : 0.119731 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.03, Z:0.88 [[ 9.94874930e-01 -5.40645289e-03 -1.00968530e-01 -1.22960468e+01] [ 4.00202066e-03 9.99892483e-01 -1.41069854e-02 -3.40366655e-02] [ 1.01033943e-01 1.36306080e-02 9.94789600e-01 8.78739167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.882557844 meters Centerline goodness : 0.119427 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.04, Z:0.88 [[ 9.94849906e-01 -5.74433311e-03 -1.01196181e-01 -1.22955635e+01] [ 4.33884535e-03 9.99891129e-01 -1.41033764e-02 -3.50621843e-02] [ 1.01266178e-01 1.35916681e-02 9.94766519e-01 8.78941583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942557844 meters Centerline goodness : 0.141892 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.04, Z:0.88 [[ 9.94863177e-01 -5.72769021e-03 -1.01066572e-01 -1.22957845e+01] [ 4.38295273e-03 9.99898961e-01 -1.35225048e-02 -3.71715589e-02] [ 1.01133813e-01 1.30100721e-02 9.94787761e-01 8.78213814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002557844 meters Centerline goodness : 0.127379 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.05, Z:0.88 [[ 9.94967215e-01 -8.60421466e-03 -9.98308955e-02 -1.23007208e+01] [ 7.18472957e-03 9.99868043e-01 -1.45697270e-02 -4.56466003e-02] [ 9.99430832e-02 1.37791427e-02 9.94897741e-01 8.78896441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062557844 meters Centerline goodness : 0.138334 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.05, Z:0.88 [[ 9.94966763e-01 -9.74756497e-03 -9.97302595e-02 -1.23020957e+01] [ 8.27352006e-03 9.99850498e-01 -1.51832575e-02 -4.98674606e-02] [ 9.98633494e-02 1.42817162e-02 9.94898660e-01 8.79671876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122557844 meters Centerline goodness : 0.229785 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.05, Z:0.88 [[ 9.95010009e-01 -5.60418041e-03 -9.96176412e-02 -1.23032709e+01] [ 4.52767310e-03 9.99928926e-01 -1.10291916e-02 -5.10462215e-02] [ 9.96723706e-02 1.05231199e-02 9.94964664e-01 8.80321496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18255784400003 meters Centerline goodness : 0.141276 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.88 [[ 9.94882024e-01 3.97712476e-03 -1.00965051e-01 -1.23178970e+01] [-5.27926511e-03 9.99906264e-01 -1.26330249e-02 -5.55891419e-02] [ 1.00905343e-01 1.31013907e-02 9.94809763e-01 8.78000905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24255784400003 meters Centerline goodness : 0.222771 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.88 [[ 9.94876561e-01 3.99538785e-03 -1.01018147e-01 -1.23177995e+01] [-5.29094482e-03 9.99907118e-01 -1.25603198e-02 -5.59530618e-02] [ 1.00958581e-01 1.30304492e-02 9.94805294e-01 8.78014484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30255784400003 meters Centerline goodness : 0.138855 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.88 [[ 9.94865997e-01 3.85093545e-03 -1.01127731e-01 -1.23176776e+01] [-5.13712657e-03 9.99909161e-01 -1.24611410e-02 -5.70689754e-02] [ 1.01070558e-01 1.29166714e-02 9.94795407e-01 8.78209678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36255784400004 meters Centerline goodness : 0.136891 with order 1 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.05, Z:0.88 [[ 9.94907873e-01 -5.43464281e-03 -1.00641886e-01 -1.22958957e+01] [ 4.17707642e-03 9.99910602e-01 -1.27019753e-02 -5.43120574e-02] [ 1.00701919e-01 1.22169064e-02 9.94841631e-01 8.80389502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42255784400004 meters Centerline goodness : 0.144315 with order 3 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.06, Z:0.88 [[ 9.94973078e-01 2.18037133e-03 -1.00119033e-01 -1.23154941e+01] [-3.55914423e-03 9.99901252e-01 -1.35947843e-02 -6.24589430e-02] [ 1.00079505e-01 1.38827825e-02 9.94882587e-01 8.78108023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.482557844 meters Centerline goodness : 0.249973 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.06, Z:0.88 [[ 9.95030596e-01 -6.72538852e-03 -9.93422430e-02 -1.22948200e+01] [ 5.44253143e-03 9.99898343e-01 -1.31788804e-02 -6.09460583e-02] [ 9.94207772e-02 1.25727159e-02 9.94966048e-01 8.80958280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.542557844 meters Centerline goodness : 0.223155 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.06, Z:0.88 [[ 0.99503458 -0.01723851 -0.0980256 -12.27300461] [ 0.01594374 0.9997752 -0.01397659 -0.0608861 ] [ 0.0982445 0.0123443 0.99508574 0.88210425] [ 0. 0. 0. 1. ]] SLAMing on 321.602557844 meters Centerline goodness : 0.121706 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.06, Z:0.88 [[ 9.94978367e-01 -1.76569372e-02 -9.85204672e-02 -1.22718855e+01] [ 1.64057652e-02 9.99774337e-01 -1.34953806e-02 -6.34671443e-02] [ 9.87365218e-02 1.18113081e-02 9.95043513e-01 8.81194130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.662557844 meters Centerline goodness : 0.220379 with order 3 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.07, Z:0.88 [[ 9.95021657e-01 -1.79758355e-02 -9.80243451e-02 -1.22734693e+01] [ 1.67954275e-02 9.99776320e-01 -1.28539551e-02 -6.59328557e-02] [ 9.82334796e-02 1.11436030e-02 9.95101002e-01 8.80449912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.722557844 meters Centerline goodness : 0.150843 with order 3 Centerline is valid? [False, False] Translation: X:-12.28, Y:-0.07, Z:0.88 [[ 9.95082258e-01 -1.83128835e-02 -9.73444332e-02 -1.22756406e+01] [ 1.71349439e-02 9.99769668e-01 -1.29230476e-02 -6.60088980e-02] [ 9.75586699e-02 1.11915040e-02 9.95166848e-01 8.80622737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.782557844 meters Centerline goodness : 0.115297 with order 2 Centerline is valid? [False, False] Translation: X:-12.27, Y:-0.07, Z:0.88 [[ 9.95073354e-01 -1.81845452e-02 -9.74594396e-02 -1.22748071e+01] [ 1.70302319e-02 9.99774786e-01 -1.26629064e-02 -6.65290960e-02] [ 9.76677595e-02 1.09407639e-02 9.95158936e-01 8.79755630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.842557844 meters Centerline goodness : 0.219172 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.07, Z:0.88 [[ 9.95397007e-01 -8.61124373e-03 -9.54496997e-02 -1.22956996e+01] [ 7.39642148e-03 9.99887177e-01 -1.30738639e-02 -7.10245731e-02] [ 9.55515130e-02 1.23076988e-02 9.95348396e-01 8.77846629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.902557844 meters Centerline goodness : 0.222618 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.07, Z:0.88 [[ 9.95389929e-01 -5.35026412e-03 -9.57614982e-02 -1.22948333e+01] [ 4.41927066e-03 9.99940916e-01 -9.93144972e-03 -6.98960264e-02] [ 9.58089761e-02 9.46246905e-03 9.95354762e-01 8.77676221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.962557844 meters Centerline goodness : 0.236244 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.07, Z:0.88 [[ 9.95259059e-01 -2.92842588e-03 -9.72153734e-02 -1.22887729e+01] [ 2.17734392e-03 9.99966966e-01 -7.83114699e-03 -6.66439557e-02] [ 9.72350949e-02 7.58234869e-03 9.95232558e-01 8.75605339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.022557844 meters Centerline goodness : 0.125713 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.06, Z:0.88 [[ 9.95352633e-01 -7.92796470e-04 -9.62938623e-02 -1.22936399e+01] [ 1.68762243e-04 9.99978935e-01 -6.48849067e-03 -5.96761326e-02] [ 9.62969779e-02 6.44208550e-03 9.95331800e-01 8.78061935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.082557844 meters Centerline goodness : 0.254375 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.05, Z:0.88 [[ 9.95369573e-01 -1.20633898e-03 -9.61142944e-02 -1.22939718e+01] [ 5.10893312e-04 9.99973516e-01 -7.25989177e-03 -5.49939327e-02] [ 9.61205068e-02 7.17717123e-03 9.95343828e-01 8.77965461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.142557844 meters Centerline goodness : 0.202305 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.05, Z:0.88 [[ 9.95223297e-01 7.19056214e-04 -9.76220870e-02 -1.22874248e+01] [-1.30650901e-03 9.99981422e-01 -5.95383038e-03 -4.69677504e-02] [ 9.76159922e-02 6.05293484e-03 9.95205748e-01 8.75327800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.202557844 meters Centerline goodness : 0.224432 with order 3 Centerline is valid? [False, False] Translation: X:-12.29, Y:-0.04, Z:0.88 [[ 9.95228458e-01 1.49803807e-04 -9.75719959e-02 -1.22878401e+01] [-8.25971942e-04 9.99975925e-01 -6.88958523e-03 -4.24457020e-02] [ 9.75686148e-02 6.93730301e-03 9.95204622e-01 8.75664075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.262557844 meters Centerline goodness : 0.131351 with order 3 Centerline is valid? [False, False] Translation: X:-12.31, Y:-0.03, Z:0.87 [[ 9.95143425e-01 -8.71707361e-03 -9.80488415e-02 -1.23062447e+01] [ 8.18450385e-03 9.99949496e-01 -5.83258469e-03 -3.11646373e-02] [ 9.80947327e-02 5.00177718e-03 9.95164512e-01 8.71675638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.322557844 meters Centerline goodness : 0.191607 with order 3 Centerline is valid? [False, False] Translation: X:-12.30, Y:-0.03, Z:0.87 [[ 9.95088810e-01 -9.49385344e-03 -9.85298309e-02 -1.23046072e+01] [ 8.89812030e-03 9.99939389e-01 -6.48390504e-03 -2.93737224e-02] [ 9.85854162e-02 5.57533106e-03 9.95112974e-01 8.71001810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.382557844 meters SLAMing on 322.442557844 meters Centerline goodness : 0.214172 with order 1 Centerline is valid? [False, False] Translation: X:-12.32, Y:-0.02, Z:0.87 [[ 9.94944729e-01 -1.84512146e-02 -9.87144302e-02 -1.23215801e+01] [ 1.80148487e-02 9.99823619e-01 -5.31007945e-03 -1.52844872e-02] [ 9.87949962e-02 3.50491004e-03 9.95101635e-01 8.66912373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502557844 meters Centerline goodness : 0.123369 with order 3 Centerline is valid? [False, False] Translation: X:-12.34, Y:-0.01, Z:0.86 [[ 9.95034145e-01 -1.06524637e-02 -9.89624936e-02 -1.23415222e+01] [ 1.00538464e-02 9.99928035e-01 -6.54567846e-03 -1.44964889e-02] [ 9.90250994e-02 5.51821986e-03 9.95069635e-01 8.63714199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562557844 meters Centerline goodness : 0.094455 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-0.01, Z:0.87 [[ 9.95171173e-01 -8.83860680e-03 -9.77558982e-02 -1.23467239e+01] [ 8.32580826e-03 9.99949364e-01 -5.65239429e-03 -6.93840724e-03] [ 9.78009075e-02 4.81120300e-03 9.95194370e-01 8.65599275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622557844 meters Centerline goodness : 0.199554 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:-0.00, Z:0.87 [[ 9.95266472e-01 -6.93314544e-03 -9.69359599e-02 -1.23509952e+01] [ 6.54721919e-03 9.99969327e-01 -4.29876618e-03 -1.58811884e-03] [ 9.69627906e-02 3.64375687e-03 9.95281337e-01 8.67453712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68255784400003 meters Centerline goodness : 0.246967 with order 3 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.00, Z:0.87 [[ 9.95248692e-01 -7.50131114e-03 -9.70761097e-02 -1.23502141e+01] [ 7.01142077e-03 9.99960911e-01 -5.38660414e-03 3.56246298e-03] [ 9.71127218e-02 4.68036927e-03 9.95262384e-01 8.66973684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74255784400003 meters Centerline goodness : 0.231690 with order 3 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.00, Z:0.87 [[ 9.95257343e-01 -7.64107813e-03 -9.69764720e-02 -1.23504995e+01] [ 7.12760658e-03 9.99958692e-01 -5.64012793e-03 4.73759867e-03] [ 9.70155628e-02 4.92216860e-03 9.95270693e-01 8.66977978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80255784400003 meters Centerline goodness : 0.220765 with order 3 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.01, Z:0.87 [[ 9.95261649e-01 -8.03101722e-03 -9.69007385e-02 -1.23505558e+01] [ 7.44466498e-03 9.99951736e-01 -6.41109735e-03 8.89837527e-03] [ 9.69475493e-02 5.65932578e-03 9.95273402e-01 8.66799146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86255784400004 meters Centerline goodness : 0.208593 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.01, Z:0.87 [[ 9.95220700e-01 -8.28229110e-03 -9.72993404e-02 -1.23490413e+01] [ 7.65916776e-03 9.99947710e-01 -6.77595261e-03 1.03894131e-02] [ 9.73503731e-02 5.99833633e-03 9.95232096e-01 8.66133183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92255784400004 meters Centerline goodness : 0.417378 with order 3 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.01, Z:0.87 [[ 9.95243798e-01 -8.35968749e-03 -9.70561636e-02 -1.23495625e+01] [ 7.73240323e-03 9.99946728e-01 -6.83744103e-03 1.06160769e-02] [ 9.71081522e-02 6.05444338e-03 9.95255420e-01 8.65899070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.982557844 meters Centerline goodness : 0.411968 with order 2 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.01, Z:0.87 [[ 9.95265261e-01 -8.45787210e-03 -9.68272974e-02 -1.23503963e+01] [ 7.80674073e-03 9.99944310e-01 -7.10154315e-03 1.22411290e-02] [ 9.68819690e-02 6.31201359e-03 9.95275863e-01 8.66235276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.042557844 meters Centerline goodness : 0.273649 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.01, Z:0.87 [[ 9.95216332e-01 -5.16332080e-03 -9.75591762e-02 -1.23487241e+01] [ 4.79457327e-03 9.99980451e-01 -4.01379193e-03 1.31150024e-02] [ 9.75779935e-02 3.52683666e-03 9.95221632e-01 8.66226718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.102557844 meters Centerline goodness : 0.155744 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.01, Z:0.87 [[ 9.95207530e-01 -1.50013120e-03 -9.77738318e-02 -1.23483452e+01] [ 1.43948053e-03 9.99998725e-01 -6.90853763e-04 1.43836337e-02] [ 9.77747435e-02 5.46799340e-04 9.95208421e-01 8.66347499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.162557844 meters Centerline goodness : 0.268916 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.02, Z:0.87 [[ 9.95311044e-01 1.02317609e-03 -9.67206273e-02 -1.23532205e+01] [-9.48536917e-04 9.99999216e-01 8.17674784e-04 2.20377915e-02] [ 9.67213880e-02 -7.22097656e-04 9.95311234e-01 8.68560658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.222557844 meters Centerline goodness : 0.138801 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.03, Z:0.87 [[ 9.95253758e-01 7.13374204e-04 -9.73110882e-02 -1.23514454e+01] [-7.38288587e-04 9.99999703e-01 -2.20021157e-04 2.79468012e-02] [ 9.73109024e-02 2.90820549e-04 9.95253990e-01 8.68347238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.282557844 meters Centerline goodness : 0.385360 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.04, Z:0.87 [[ 9.95311716e-01 2.30284643e-03 -9.66917003e-02 -1.23531995e+01] [-2.30111080e-03 9.99997344e-01 1.29460681e-04 3.85843498e-02] [ 9.66917416e-02 9.36445836e-05 9.95314372e-01 8.68442741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.342557844 meters Centerline goodness : 0.263355 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.05, Z:0.87 [[ 9.95292416e-01 3.17441072e-03 -9.68655215e-02 -1.23515411e+01] [-3.17785029e-03 9.99994944e-01 1.18766434e-04 4.95202219e-02] [ 9.68654087e-02 1.89616794e-04 9.95297471e-01 8.67233578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.402557844 meters Centerline goodness : 0.263630 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.05, Z:0.87 [[ 9.95297148e-01 2.68021946e-03 -9.68318346e-02 -1.23513318e+01] [-2.75459137e-03 9.99996005e-01 -6.34380039e-04 5.25714492e-02] [ 9.68297475e-02 8.98128779e-04 9.95300554e-01 8.66818084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.462557844 meters Centerline goodness : 0.131922 with order 2 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.06, Z:0.87 [[ 9.95329800e-01 2.35233257e-03 -9.65041787e-02 -1.23522017e+01] [-2.48093533e-03 9.99996187e-01 -1.21264452e-03 5.54190247e-02] [ 9.65009582e-02 1.44640185e-03 9.95331841e-01 8.66844343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.522557844 meters Centerline goodness : 0.271425 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.06, Z:0.87 [[ 9.95269416e-01 1.95221997e-03 -9.71338185e-02 -1.23494386e+01] [-2.13636087e-03 9.99996113e-01 -1.79177810e-03 5.79086989e-02] [ 9.71299429e-02 1.99081483e-03 9.95269718e-01 8.65383072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.582557844 meters Centerline goodness : 0.128018 with order 2 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.06, Z:0.87 [[ 9.95241975e-01 1.79896642e-03 -9.74175242e-02 -1.23485302e+01] [-2.01479882e-03 9.99995729e-01 -2.11721269e-03 5.94569527e-02] [ 9.74132993e-02 2.30341565e-03 9.95241349e-01 8.65159497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.642557844 meters Centerline goodness : 0.148222 with order 1 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.06, Z:0.87 [[ 9.95269426e-01 5.87647860e-03 -9.69754436e-02 -1.23502241e+01] [-5.78442627e-03 9.99982513e-01 1.23034478e-03 6.28264647e-02] [ 9.69809779e-02 -6.63577236e-04 9.95286014e-01 8.65937020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.702557844 meters Centerline goodness : 0.121554 with order 2 Centerline is valid? [False, False] Translation: X:-12.35, Y:0.07, Z:0.87 [[ 9.95273234e-01 5.61125388e-03 -9.69520699e-02 -1.23500497e+01] [-5.59238588e-03 9.99984254e-01 4.66349359e-04 6.68024005e-02] [ 9.69531601e-02 7.80483528e-05 9.95288942e-01 8.65749141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.762557844 meters Centerline goodness : 0.157035 with order 1 Centerline is valid? [False, False] Translation: X:-12.36, Y:0.07, Z:0.87 [[ 9.95410380e-01 7.51449099e-03 -9.54028756e-02 -1.23567173e+01] [-7.42203841e-03 9.99971580e-01 1.32389466e-03 7.47869341e-02] [ 9.54101127e-02 -6.09734679e-04 9.95437863e-01 8.68451035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.822557844 meters Centerline goodness : 0.119996 with order 3 Centerline is valid? [False, False] Translation: X:-12.38, Y:0.09, Z:0.87 [[ 9.95656320e-01 1.90261499e-03 -9.30852977e-02 -1.23806989e+01] [-1.62274968e-03 9.99993934e-01 3.08214596e-03 8.54639527e-02] [ 9.30905972e-02 -2.91770397e-03 9.95653367e-01 8.66979151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.882557844 meters Centerline goodness : 0.137289 with order 1 Centerline is valid? [False, False] Translation: X:-12.38, Y:0.09, Z:0.87 [[ 9.95639252e-01 1.36949077e-03 -9.32770350e-02 -1.23800281e+01] [-1.19337502e-03 9.99997399e-01 1.94384604e-03 9.13854780e-02] [ 9.32794544e-02 -1.82405494e-03 9.95638296e-01 8.66853973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942557844 meters Centerline goodness : 0.221294 with order 3 Centerline is valid? [False, False] Translation: X:-12.38, Y:0.10, Z:0.87 [[ 9.95595635e-01 1.70511182e-03 -9.37359236e-02 -1.23782425e+01] [-1.58211087e-03 9.99997787e-01 1.38650538e-03 1.02699000e-01] [ 9.37380803e-02 -1.23209808e-03 9.95596130e-01 8.66295509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002557844 meters Centerline goodness : 0.282257 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.11, Z:0.86 [[ 9.95463907e-01 -6.82609059e-03 -9.48947582e-02 -1.23976551e+01] [ 7.02434936e-03 9.99973788e-01 1.75536140e-03 1.14958882e-01] [ 9.48802886e-02 -2.41397285e-03 9.95485763e-01 8.63789667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062557844 meters Centerline goodness : 0.289104 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.12, Z:0.86 [[ 9.95452826e-01 -7.43248478e-03 -9.49654113e-02 -1.23970262e+01] [ 7.58631004e-03 9.99970431e-01 1.25886635e-03 1.16305622e-01] [ 9.49532468e-02 -1.97357912e-03 9.95479777e-01 8.63093119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122557844 meters Centerline goodness : 0.388626 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.12, Z:0.86 [[ 9.95511427e-01 -7.84580557e-03 -9.43156475e-02 -1.23986582e+01] [ 7.98008480e-03 9.99967611e-01 1.04663608e-03 1.16519348e-01] [ 9.43043810e-02 -1.79458504e-03 9.95541794e-01 8.62923596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18255784400003 meters Centerline goodness : 0.286272 with order 2 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.12, Z:0.86 [[ 9.95500102e-01 -8.00701910e-03 -9.44215815e-02 -1.23983759e+01] [ 8.12696131e-03 9.99966583e-01 8.85806758e-04 1.17380731e-01] [ 9.44113336e-02 -1.64918126e-03 9.95531908e-01 8.62915038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24255784400003 meters Centerline goodness : 0.141085 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.12, Z:0.86 [[ 9.95466724e-01 -8.10634433e-03 -9.47643876e-02 -1.23969775e+01] [ 8.19951232e-03 9.99966207e-01 5.93801956e-04 1.18964113e-01] [ 9.47563717e-02 -1.36813185e-03 9.95499552e-01 8.62265430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30255784400003 meters Centerline goodness : 0.385757 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.12, Z:0.86 [[ 9.95414313e-01 -8.16243716e-03 -9.53085507e-02 -1.23955387e+01] [ 8.20334460e-03 9.99966351e-01 3.73956346e-05 1.22062862e-01] [ 9.53050385e-02 -8.19073034e-04 9.95447778e-01 8.62329462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36255784400004 meters Centerline goodness : 0.388656 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.12, Z:0.86 [[ 9.95454745e-01 -4.07648926e-03 -9.51484772e-02 -1.23965647e+01] [ 4.46158211e-03 9.99982694e-01 3.83489455e-03 1.22093097e-01] [ 9.51311976e-02 -4.24197672e-03 9.95455705e-01 8.62815469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42255784400004 meters Centerline goodness : 0.379748 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.12, Z:0.86 [[ 9.95476856e-01 -4.10193566e-03 -9.49157739e-02 -1.23976180e+01] [ 4.48062089e-03 9.99982829e-01 3.77691878e-03 1.22444615e-01] [ 9.48986514e-02 -4.18511683e-03 9.95478142e-01 8.63376875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.482557844 meters Centerline goodness : 0.389919 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.12, Z:0.86 [[ 9.95509580e-01 -4.38656766e-03 -9.45591567e-02 -1.23983779e+01] [ 4.79148005e-03 9.99980297e-01 4.05548310e-03 1.19561031e-01] [ 9.45395039e-02 -4.49035059e-03 9.95510984e-01 8.62946262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.542557844 meters Centerline goodness : 0.391590 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.12, Z:0.86 [[ 9.95467299e-01 -4.26822715e-03 -9.50086260e-02 -1.23970834e+01] [ 4.74275577e-03 9.99977380e-01 4.76933194e-03 1.15776418e-01] [ 9.49861203e-02 -5.19831670e-03 9.95465024e-01 8.62594175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.602557844 meters Centerline goodness : 0.415562 with order 3 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.11, Z:0.86 [[ 9.95459228e-01 -4.12915620e-03 -9.50992913e-02 -1.23968089e+01] [ 4.63909582e-03 9.99976020e-01 5.14171619e-03 1.13884549e-01] [ 9.50757799e-02 -5.55954355e-03 9.95454513e-01 8.62489612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.662557844 meters Centerline goodness : 0.139824 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.11, Z:0.86 [[ 9.95491454e-01 -3.99074073e-03 -9.47672834e-02 -1.23981397e+01] [ 4.54086874e-03 9.99974065e-01 5.59010209e-03 1.11199758e-01] [ 9.47425170e-02 -5.99522465e-03 9.95483758e-01 8.63068049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.722557844 meters Centerline goodness : 0.274747 with order 1 Centerline is valid? [False, False] Translation: X:-12.40, Y:0.11, Z:0.86 [[ 9.95517614e-01 -3.88705133e-03 -9.44964099e-02 -1.23988139e+01] [ 4.44905187e-03 9.99973644e-01 5.73736736e-03 1.10727003e-01] [ 9.44716179e-02 -6.13206969e-03 9.95508670e-01 8.62969980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.782557844 meters Centerline goodness : 0.122972 with order 3 Centerline is valid? [False, False] Translation: X:-12.42, Y:0.10, Z:0.86 [[ 9.95342471e-01 3.60423876e-03 -9.63347058e-02 -1.24170411e+01] [-3.22108124e-03 9.99986273e-01 4.13257421e-03 1.04115347e-01] [ 9.63482782e-02 -3.80302471e-03 9.95340417e-01 8.59148562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.842557844 meters Centerline goodness : 0.139382 with order 1 Centerline is valid? [False, False] Translation: X:-12.42, Y:0.10, Z:0.86 [[ 9.95375262e-01 3.78261434e-03 -9.59884382e-02 -1.24187146e+01] [-3.35063338e-03 9.99983523e-01 4.66112842e-03 1.01494585e-01] [ 9.60044878e-02 -4.31794986e-03 9.95371535e-01 8.60108941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.902557844 meters Centerline goodness : 0.148795 with order 1 Centerline is valid? [False, False] Translation: X:-12.42, Y:0.10, Z:0.86 [[ 9.95398436e-01 4.00856456e-03 -9.57386268e-02 -1.24194671e+01] [-3.50423849e-03 9.99979089e-01 5.43529021e-03 9.69510185e-02] [ 9.57584125e-02 -5.07478839e-03 9.95391668e-01 8.60050931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.962557844 meters Centerline goodness : 0.251700 with order 1 Centerline is valid? [False, False] Translation: X:-12.42, Y:0.09, Z:0.86 [[ 9.95421299e-01 4.31901461e-03 -9.54870820e-02 -1.24202193e+01] [-3.75189774e-03 9.99974247e-01 6.11794235e-03 9.36800043e-02] [ 9.55110464e-02 -5.73167236e-03 9.95411869e-01 8.60015320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.022557844 meters Centerline goodness : 0.247863 with order 1 Centerline is valid? [False, False] Translation: X:-12.42, Y:0.09, Z:0.86 [[ 9.95428732e-01 4.69165224e-03 -9.53919646e-02 -1.24206140e+01] [-4.04455550e-03 9.99967490e-01 6.97577579e-03 8.92877443e-02] [ 9.54215913e-02 -6.55806956e-03 9.95415346e-01 8.60072336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.082557844 meters Centerline goodness : 0.139970 with order 1 Centerline is valid? [False, False] Translation: X:-12.42, Y:0.09, Z:0.86 [[ 9.95430770e-01 4.93022871e-03 -9.53586698e-02 -1.24205974e+01] [-4.22984017e-03 9.99962586e-01 7.54552471e-03 8.62804199e-02] [ 9.53923033e-02 -7.10769553e-03 9.95414381e-01 8.59778619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.142557844 meters Centerline goodness : 0.259621 with order 1 Centerline is valid? [False, False] Translation: X:-12.42, Y:0.08, Z:0.86 [[ 9.95378651e-01 5.38025810e-03 -9.58769734e-02 -1.24191445e+01] [-4.58887242e-03 9.99953576e-01 8.47276103e-03 8.22946162e-02] [ 9.59181081e-02 -7.99363825e-03 9.95357131e-01 8.59524547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.202557844 meters Centerline goodness : 0.246460 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:0.08, Z:0.86 [[ 9.95113863e-01 4.66745436e-03 -9.86236007e-02 -1.24650706e+01] [-3.91428958e-03 9.99961693e-01 7.82887403e-03 8.37424453e-02] [ 9.86563636e-02 -7.40457975e-03 9.95094013e-01 8.57000741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.262557844 meters Centerline goodness : 0.142686 with order 1 Centerline is valid? [False, False] Translation: X:-12.46, Y:0.08, Z:0.86 [[ 9.95086983e-01 4.95739875e-03 -9.88803296e-02 -1.24643767e+01] [-4.18089426e-03 9.99958788e-01 8.05864015e-03 8.35535372e-02] [ 9.89162044e-02 -7.60563971e-03 9.95066701e-01 8.56978429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.322557844 meters Centerline goodness : 0.145537 with order 1 Centerline is valid? [False, False] Translation: X:-12.48, Y:0.09, Z:0.85 [[ 9.95028878e-01 -3.23493881e-03 -9.95342530e-02 -1.24834903e+01] [ 4.15725928e-03 9.99950312e-01 9.06034791e-03 8.82727540e-02] [ 9.94999977e-02 -9.42909751e-03 9.94992886e-01 8.54316794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.382557844 meters Centerline goodness : 0.138410 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:0.08, Z:0.86 [[ 9.95221921e-01 4.23735854e-03 -9.75467740e-02 -1.24664356e+01] [-3.48768592e-03 9.99963071e-01 7.85449428e-03 8.00980683e-02] [ 9.75764540e-02 -7.47675237e-03 9.95199947e-01 8.56956402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442557844 meters Centerline goodness : 0.265876 with order 1 Centerline is valid? [False, False] Translation: X:-12.47, Y:0.08, Z:0.86 [[ 9.95199835e-01 4.38234819e-03 -9.77654522e-02 -1.24655915e+01] [-3.60298124e-03 9.99960322e-01 8.14692668e-03 7.87723918e-02] [ 9.77972758e-02 -7.75557300e-03 9.95176137e-01 8.56570233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502557844 meters Centerline goodness : 0.139509 with order 1 Centerline is valid? [False, False] Translation: X:-12.46, Y:0.08, Z:0.86 [[ 9.95170431e-01 4.51429639e-03 -9.80583260e-02 -1.24644211e+01] [-3.71040095e-03 9.99958012e-01 8.37894719e-03 7.77153532e-02] [ 9.80920338e-02 -7.97464478e-03 9.95145395e-01 8.55990529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562557844 meters Centerline goodness : 0.265672 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:0.08, Z:0.85 [[ 9.95030861e-01 4.53359864e-03 -9.94637228e-02 -1.25131935e+01] [-3.71157784e-03 9.99957427e-01 8.44801611e-03 7.90659687e-02] [ 9.94977882e-02 -8.03686939e-03 9.95005326e-01 8.53940336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622557844 meters Centerline goodness : 0.246125 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:0.08, Z:0.85 [[ 9.95056185e-01 4.76795672e-03 -9.91990688e-02 -1.25143642e+01] [-3.90102599e-03 9.99952505e-01 8.93143686e-03 7.69006273e-02] [ 9.92369420e-02 -8.50030335e-03 9.95027524e-01 8.54496898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68255784400003 meters Centerline goodness : 0.429598 with order 3 Centerline is valid? [False, False] Translation: X:-12.51, Y:0.07, Z:0.85 [[ 9.95031587e-01 4.98023306e-03 -9.94350943e-02 -1.25135822e+01] [-4.03451413e-03 9.99944720e-01 9.70973842e-03 7.22428073e-02] [ 9.94779543e-02 -9.26032414e-03 9.94996675e-01 8.54108395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74255784400003 meters Centerline goodness : 0.142123 with order 1 Centerline is valid? [False, False] Translation: X:-12.51, Y:0.07, Z:0.85 [[ 9.95028312e-01 5.23790058e-03 -9.94546251e-02 -1.25136007e+01] [-4.24809843e-03 9.99939347e-01 1.01614648e-02 7.02385591e-02] [ 9.95018177e-02 -9.68845214e-03 9.94990212e-01 8.54156828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80255784400003 meters Centerline goodness : 0.140763 with order 1 Centerline is valid? [False, False] Translation: X:-12.52, Y:0.07, Z:0.85 [[ 9.95160872e-01 5.75929185e-03 -9.80901125e-02 -1.25175205e+01] [-4.76398719e-03 9.99934798e-01 1.03780356e-02 7.04718915e-02] [ 9.81434870e-02 -9.86051494e-03 9.95123423e-01 8.54819167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86255784400004 meters Centerline goodness : 0.136543 with order 1 Centerline is valid? [False, False] Translation: X:-12.52, Y:0.07, Z:0.85 [[ 9.95115685e-01 5.73264944e-03 -9.85490275e-02 -1.25157219e+01] [-4.74636257e-03 9.99936309e-01 1.02396189e-02 7.11676456e-02] [ 9.86014510e-02 -9.72185597e-03 9.95079514e-01 8.53972714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92255784400004 meters Centerline goodness : 0.399743 with order 3 Centerline is valid? [False, False] Translation: X:-12.56, Y:0.07, Z:0.85 [[ 9.94760594e-01 5.07533580e-03 -1.02105835e-01 -1.25574803e+01] [-4.07645977e-03 9.99941799e-01 9.98903605e-03 7.35911635e-02] [ 1.02150590e-01 -9.52046910e-03 9.94723388e-01 8.49620516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.982557844 meters Centerline goodness : 0.140022 with order 1 Centerline is valid? [False, False] Translation: X:-12.56, Y:0.07, Z:0.85 [[ 9.94714784e-01 4.96428842e-03 -1.02556593e-01 -1.25556824e+01] [-3.95012259e-03 9.99941297e-01 1.00895674e-02 7.25753968e-02] [ 1.02600660e-01 -9.63113078e-03 9.94676000e-01 8.48693640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.042557844 meters Centerline goodness : 0.259770 with order 1 Centerline is valid? [False, False] Translation: X:-12.55, Y:0.07, Z:0.85 [[ 9.94673627e-01 4.94696251e-03 -1.02955829e-01 -1.25540564e+01] [-3.95733540e-03 9.99944009e-01 9.81419289e-03 7.47094780e-02] [ 1.02998615e-01 -9.35448810e-03 9.94637511e-01 8.48002153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.102557844 meters Centerline goodness : 0.382065 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:0.08, Z:0.85 [[ 9.94527274e-01 4.70011795e-03 -1.04371503e-01 -1.26032712e+01] [-3.72841422e-03 9.99947893e-01 9.50320136e-03 7.97463118e-02] [ 1.04410731e-01 -9.06205274e-03 9.94492976e-01 8.46164949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.162557844 meters Centerline goodness : 0.255676 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:0.08, Z:0.85 [[ 9.94702440e-01 -2.63504550e-03 -1.02762406e-01 -1.25855439e+01] [ 3.81709328e-03 9.99928779e-01 1.13077750e-02 8.36982985e-02] [ 1.02725291e-01 -1.16401251e-02 9.94641655e-01 8.50170072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.222557844 meters Centerline goodness : 0.140500 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:0.09, Z:0.85 [[ 9.94685563e-01 -3.01191557e-03 -1.02915298e-01 -1.25851007e+01] [ 4.13153884e-03 9.99934564e-01 1.06676420e-02 8.63089878e-02] [ 1.02876434e-01 -1.10361480e-02 9.94632919e-01 8.50138703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.282557844 meters Centerline goodness : 0.141425 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:0.09, Z:0.85 [[ 9.94749356e-01 -7.29477961e-04 -1.02338592e-01 -1.25879035e+01] [ 2.00495302e-03 9.99921590e-01 1.23609768e-02 9.15834536e-02] [ 1.02321551e-01 -1.25012578e-02 9.94672820e-01 8.51086609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.342557844 meters Centerline goodness : 0.249238 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:0.10, Z:0.85 [[ 9.94876812e-01 1.07795606e-03 -1.01088906e-01 -1.25933530e+01] [ 2.64413880e-04 9.99911984e-01 1.32647635e-02 9.89174731e-02] [ 1.01094307e-01 -1.32235349e-02 9.94788962e-01 8.53169716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.402557844 meters Centerline goodness : 0.141383 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:0.10, Z:0.85 [[ 9.94913373e-01 6.91266808e-04 -1.00731838e-01 -1.25944753e+01] [ 5.84104579e-04 9.99920055e-01 1.26310115e-02 1.01437922e-01] [ 1.00732516e-01 -1.26256001e-02 9.94833430e-01 8.53363179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.462557844 meters Centerline goodness : 0.186042 with order 3 Centerline is valid? [False, False] Translation: X:-12.60, Y:0.10, Z:0.85 [[ 9.94958434e-01 5.90021449e-04 -1.00286425e-01 -1.25958301e+01] [ 6.75728099e-04 9.99920553e-01 1.25869074e-02 1.01503740e-01] [ 1.00285884e-01 -1.25912161e-02 9.94878989e-01 8.53516141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.522557844 meters Centerline goodness : 0.247728 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:0.10, Z:0.85 [[ 9.94920914e-01 2.37644883e-04 -1.00659421e-01 -1.25945894e+01] [ 1.06059114e-03 9.99916955e-01 1.28436012e-02 9.88540621e-02] [ 1.00654114e-01 -1.28851259e-02 9.94838039e-01 8.52977354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.582557844 meters Centerline goodness : 0.251258 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:0.09, Z:0.85 [[ 9.94842622e-01 1.29203446e-04 -1.01430471e-01 -1.25921672e+01] [ 1.24451372e-03 9.99908366e-01 1.34800410e-02 9.45455514e-02] [ 1.01422918e-01 -1.35367509e-02 9.94751300e-01 8.52245110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.642557844 meters Centerline goodness : 0.246741 with order 1 Centerline is valid? [False, False] Translation: X:-12.60, Y:0.09, Z:0.85 [[ 9.94932019e-01 6.20668707e-04 -1.00547964e-01 -1.25951524e+01] [ 8.49517504e-04 9.99893371e-01 1.45782633e-02 8.90568723e-02] [ 1.00546291e-01 -1.45897982e-02 9.94825402e-01 8.53021165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.702557844 meters Centerline goodness : 0.154676 with order 1 Centerline is valid? [False, False] Translation: X:-12.59, Y:0.09, Z:0.85 [[ 9.94909580e-01 7.77240398e-04 -1.00768661e-01 -1.25946738e+01] [ 7.04704911e-04 9.99892142e-01 1.46699800e-02 8.84740593e-02] [ 1.00769194e-01 -1.46663158e-02 9.94801723e-01 8.53193750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.762557844 meters Centerline goodness : 0.143334 with order 1 Centerline is valid? [False, False] Translation: X:-12.63, Y:0.10, Z:0.85 [[ 9.94431001e-01 5.82989664e-03 -1.05228310e-01 -1.26339917e+01] [-3.91987701e-03 9.99823961e-01 1.83488942e-02 9.56361654e-02] [ 1.05316758e-01 -1.78342272e-02 9.94278794e-01 8.48513976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.822557844 meters Centerline goodness : 0.395216 with order 1 Centerline is valid? [False, False] Translation: X:-12.63, Y:0.10, Z:0.85 [[ 9.94452531e-01 5.69303604e-03 -1.05032155e-01 -1.26346540e+01] [-3.86716607e-03 9.99837992e-01 1.75793845e-02 9.94111663e-02] [ 1.05115219e-01 -1.70756867e-02 9.94313437e-01 8.48865826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.882557844 meters Centerline goodness : 0.436976 with order 3 Centerline is valid? [False, False] Translation: X:-12.68, Y:0.11, Z:0.85 [[ 9.94205922e-01 6.65661799e-03 -1.07285942e-01 -1.26822215e+01] [-4.75955519e-03 9.99827940e-01 1.79286741e-02 1.06575499e-01] [ 1.07386827e-01 -1.73141606e-02 9.94066542e-01 8.46398986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942557844 meters Centerline goodness : 0.154294 with order 1 Centerline is valid? [False, False] Translation: X:-12.68, Y:0.11, Z:0.85 [[ 9.94193446e-01 6.35279474e-03 -1.07419900e-01 -1.26813409e+01] [-4.49403461e-03 9.99836117e-01 1.75369171e-02 1.08307768e-01] [ 1.07513704e-01 -1.69523393e-02 9.94059063e-01 8.45641866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002557844 meters Centerline goodness : 0.260019 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.11, Z:0.84 [[ 9.93957167e-01 5.37011094e-03 -1.09637186e-01 -1.27286859e+01] [-3.52903845e-03 9.99849609e-01 1.69795517e-02 1.12645393e-01] [ 1.09711880e-01 -1.64900332e-02 9.93826636e-01 8.42733533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062557844 meters Centerline goodness : 0.441430 with order 3 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.11, Z:0.84 [[ 9.93963354e-01 5.21465537e-03 -1.09588585e-01 -1.27289270e+01] [-3.37943034e-03 9.99851041e-01 1.69255647e-02 1.12590376e-01] [ 1.09660522e-01 -1.64530441e-02 9.93832917e-01 8.42852841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122557844 meters Centerline goodness : 0.427129 with order 3 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.11, Z:0.84 [[ 9.94018044e-01 5.11017758e-03 -1.09096351e-01 -1.27308468e+01] [-3.32107241e-03 9.99857114e-01 1.65747204e-02 1.14489166e-01] [ 1.09165462e-01 -1.61132542e-02 9.93892985e-01 8.43716755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18255784400003 meters Centerline goodness : 0.127238 with order 2 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.12, Z:0.84 [[ 9.94039311e-01 4.83626322e-03 -1.08914915e-01 -1.27314587e+01] [-3.12099187e-03 9.99868498e-01 1.59136941e-02 1.17843731e-01] [ 1.08977555e-01 -1.54789149e-02 9.93923687e-01 8.43963815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24255784400003 meters Centerline goodness : 0.249398 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.12, Z:0.84 [[ 9.94023741e-01 4.54857947e-03 -1.09069298e-01 -1.27306723e+01] [-2.89887076e-03 9.99879065e-01 1.52791213e-02 1.20965956e-01] [ 1.09125606e-01 -1.48716315e-02 9.93916715e-01 8.43473303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30255784400003 meters Centerline goodness : 0.397244 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.12, Z:0.84 [[ 9.93963634e-01 8.58977681e-03 -1.09373256e-01 -1.27294647e+01] [-6.59241424e-03 9.99805077e-01 1.86104221e-02 1.24123441e-01] [ 1.09511796e-01 -1.77770490e-02 9.93826516e-01 8.43025998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36255784400004 meters Centerline goodness : 0.116833 with order 3 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.13, Z:0.84 [[ 9.94017071e-01 8.26454670e-03 -1.08911709e-01 -1.27311655e+01] [-6.32305440e-03 9.99815107e-01 1.81596142e-02 1.25555538e-01] [ 1.09041653e-01 -1.73623118e-02 9.93885541e-01 8.43595153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42255784400004 meters Centerline goodness : 0.290601 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.13, Z:0.84 [[ 9.93906033e-01 7.72829217e-03 -1.09959406e-01 -1.27275110e+01] [-5.80315268e-03 9.99824424e-01 1.78170006e-02 1.26371802e-01] [ 1.10077795e-01 -1.70703131e-02 9.93776375e-01 8.42297527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.482557844 meters Centerline goodness : 0.393496 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.13, Z:0.84 [[ 9.93867568e-01 7.55896220e-03 -1.10318260e-01 -1.27261491e+01] [-5.62667335e-03 9.99825443e-01 1.78164030e-02 1.25566507e-01] [ 1.10433677e-01 -1.70864203e-02 9.93736614e-01 8.41681710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.542557844 meters Centerline goodness : 0.144052 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.13, Z:0.84 [[ 9.93884897e-01 7.61503820e-03 -1.10158169e-01 -1.27270421e+01] [-5.70598796e-03 9.99828210e-01 1.76349587e-02 1.27204630e-01] [ 1.10273535e-01 -1.68985579e-02 9.93757609e-01 8.42374041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.602557844 meters Centerline goodness : 0.145889 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.13, Z:0.84 [[ 9.93953427e-01 1.03818860e-02 -1.09310574e-01 -1.27306779e+01] [-8.32969693e-03 9.99780698e-01 1.92138628e-02 1.32747855e-01] [ 1.09486078e-01 -1.81871608e-02 9.93821929e-01 8.43798296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.662557844 meters Centerline goodness : 0.146421 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.14, Z:0.84 [[ 9.93899614e-01 1.45543080e-02 -1.09323967e-01 -1.27308023e+01] [-1.21961453e-02 9.99678973e-01 2.22082275e-02 1.37737074e-01] [ 1.09612096e-01 -2.07394178e-02 9.93758052e-01 8.44077774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.722557844 meters Centerline goodness : 0.305084 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.15, Z:0.85 [[ 0.99380958 0.01949329 -0.10937332 -12.73154843] [ -0.01681885 0.99953786 0.02532195 0.14755946] [ 0.10981639 -0.02332566 0.99367815 0.84541363] [ 0. 0. 0. 1. ]] SLAMing on 327.782557844 meters Centerline goodness : 0.387431 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.15, Z:0.85 [[ 0.99388078 0.01970462 -0.10868635 -12.73364256] [ -0.01712042 0.99954931 0.02465886 0.15288616] [ 0.10912326 -0.02264721 0.9937702 0.845738 ] [ 0. 0. 0. 1. ]] SLAMing on 327.842557844 meters Centerline goodness : 0.118964 with order 3 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.16, Z:0.85 [[ 0.99385115 0.02347137 -0.10820807 -12.73465266] [ -0.02062839 0.99941392 0.02731834 0.15887581] [ 0.10878585 -0.0249182 0.99375285 0.84567221] [ 0. 0. 0. 1. ]] SLAMing on 327.902557844 meters Centerline goodness : 0.120327 with order 3 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.16, Z:0.85 [[ 0.99377228 0.02348628 -0.10892679 -12.73242902] [ -0.02070042 0.99943084 0.02663631 0.16469164] [ 0.10949039 -0.0242156 0.99369284 0.84536607] [ 0. 0. 0. 1. ]] SLAMing on 327.962557844 meters Centerline goodness : 0.120180 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.18, Z:0.84 [[ 0.99396778 0.01847805 -0.10810464 -12.75374389] [ -0.01541745 0.99945821 0.02907915 0.17517387] [ 0.10858339 -0.02723704 0.99371414 0.84266855] [ 0. 0. 0. 1. ]] SLAMing on 328.022557844 meters Centerline goodness : 0.120602 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.19, Z:0.84 [[ 9.94259383e-01 1.41630901e-02 -1.06055113e-01 -1.27731819e+01] [-1.08812243e-02 9.99445784e-01 3.14598817e-02 1.86913359e-01] [ 1.06441905e-01 -3.01252731e-02 9.93862460e-01 8.38704609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.082557844 meters Centerline goodness : 0.141799 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.19, Z:0.84 [[ 9.94219221e-01 1.41463743e-02 -1.06433171e-01 -1.27720430e+01] [-1.09148679e-02 9.99463398e-01 3.08833411e-02 1.90285294e-01] [ 1.06812946e-01 -2.95431074e-02 9.93840128e-01 8.38458762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.142557844 meters Centerline goodness : 0.126987 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.19, Z:0.84 [[ 0.99415872 0.01836005 -0.10635483 -12.77200008] [ -0.01477771 0.99929979 0.03437364 0.19294702] [ 0.10691146 -0.03260117 0.99373392 0.8382042 ] [ 0. 0. 0. 1. ]] SLAMing on 328.202557844 meters Centerline goodness : 0.215142 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.20, Z:0.84 [[ 0.99417625 0.01861829 -0.10614585 -12.77242544] [ -0.01508347 0.99930774 0.03400773 0.19610361] [ 0.10670554 -0.03220863 0.99376885 0.8378351 ] [ 0. 0. 0. 1. ]] SLAMing on 328.262557844 meters Centerline goodness : 0.124755 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.20, Z:0.84 [[ 0.9940732 0.01927114 -0.10699115 -12.76927779] [ -0.01574546 0.99930794 0.03370061 0.20031146] [ 0.10756655 -0.03181625 0.99368867 0.83630196] [ 0. 0. 0. 1. ]] SLAMing on 328.322557844 meters Centerline goodness : 0.087152 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.20, Z:0.84 [[ 0.99406025 0.01941008 -0.1070863 -12.76900732] [ -0.015912 0.99931457 0.03342442 0.20206468] [ 0.10766167 -0.03152193 0.99368774 0.83598264] [ 0. 0. 0. 1. ]] SLAMing on 328.382557844 meters Centerline goodness : 0.212783 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.20, Z:0.84 [[ 0.99411031 0.019762 -0.10655591 -12.77093431] [ -0.01625761 0.99930121 0.03365688 0.20185918] [ 0.10714657 -0.03172631 0.99373691 0.83647705] [ 0. 0. 0. 1. ]] SLAMing on 328.442557844 meters Centerline goodness : 0.201381 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.20, Z:0.84 [[ 0.9941072 0.01980436 -0.10657699 -12.77071306] [ -0.01629315 0.99929864 0.03371584 0.20150312] [ 0.10716996 -0.03178069 0.99373265 0.83621402] [ 0. 0. 0. 1. ]] SLAMing on 328.502557844 meters Centerline goodness : 0.183543 with order 2 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.20, Z:0.84 [[ 0.99408183 0.01995701 -0.10678499 -12.7694866 ] [ -0.016426 0.99929212 0.03384455 0.20064229] [ 0.10738484 -0.03189021 0.99370595 0.83517779] [ 0. 0. 0. 1. ]] SLAMing on 328.562557844 meters Centerline goodness : 0.218249 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.20, Z:0.84 [[ 9.94087457e-01 1.29912814e-02 -1.07802384e-01 -1.27511827e+01] [-9.27798625e-03 9.99348588e-01 3.48757499e-02 2.04707594e-01] [ 1.08185241e-01 -3.36693565e-02 9.93560430e-01 8.38333899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622557844 meters Centerline goodness : 0.094017 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.20, Z:0.84 [[ 9.94061108e-01 1.30584636e-02 -1.08036981e-01 -1.27499410e+01] [-9.32772402e-03 9.99344984e-01 3.49656427e-02 2.03480247e-01] [ 1.08422813e-01 -3.37502464e-02 9.93531788e-01 8.37431573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68255784400003 meters Centerline goodness : 0.084287 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.20, Z:0.84 [[ 9.94151313e-01 1.35343951e-02 -1.07144705e-01 -1.27527799e+01] [-9.82077723e-03 9.99335131e-01 3.51119356e-02 2.04283248e-01] [ 1.07548686e-01 -3.38543326e-02 9.93623251e-01 8.37971906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74255784400003 meters Centerline goodness : 0.293950 with order 2 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.21, Z:0.84 [[ 9.94373205e-01 9.51734909e-03 -1.05505214e-01 -1.27348247e+01] [-5.43233313e-03 9.99226839e-01 3.89385889e-02 2.11057161e-01] [ 1.05794233e-01 -3.81463500e-02 9.93656096e-01 8.40672995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80255784400003 meters Centerline goodness : 0.083828 with order 1 Centerline is valid? [False, False] Translation: X:-12.73, Y:0.22, Z:0.84 [[ 9.94368287e-01 9.47816067e-03 -1.05555074e-01 -1.27345413e+01] [-5.48251438e-03 9.99259665e-01 3.80796969e-02 2.15861162e-01] [ 1.05837853e-01 -3.72865358e-02 9.93684086e-01 8.40042711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86255784400004 meters Centerline goodness : 0.397607 with order 2 Centerline is valid? [False, False] Translation: X:-12.74, Y:0.22, Z:0.84 [[ 9.94378403e-01 9.26200383e-03 -1.05478945e-01 -1.27350908e+01] [-5.32800655e-03 9.99281770e-01 3.75174110e-02 2.19459124e-01] [ 1.05750673e-01 -3.67445108e-02 9.93713558e-01 8.40253289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92255784400004 meters Centerline goodness : 0.228365 with order 3 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.22, Z:0.84 [[ 9.93940759e-01 7.08762290e-03 -1.09688347e-01 -1.27750636e+01] [-3.21845690e-03 9.99367648e-01 3.54111047e-02 2.19291893e-01] [ 1.09869966e-01 -3.48435131e-02 9.93335049e-01 8.35226862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.982557844 meters Centerline goodness : 0.205219 with order 3 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.22, Z:0.84 [[ 9.93970323e-01 3.64226382e-03 -1.09588919e-01 -1.27761299e+01] [-1.16882958e-04 9.99482779e-01 3.21583770e-02 2.20770879e-01] [ 1.09649367e-01 -3.19516633e-02 9.93456646e-01 8.35772790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.042557844 meters Centerline goodness : 0.085232 with order 1 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.22, Z:0.84 [[ 9.93974311e-01 3.63337272e-03 -1.09553032e-01 -1.27765007e+01] [-9.96183213e-05 9.99480011e-01 3.22443414e-02 2.20143570e-01] [ 1.09613221e-01 -3.20391336e-02 9.93457818e-01 8.36219712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.102557844 meters Centerline goodness : 0.141976 with order 2 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.22, Z:0.83 [[ 9.93670314e-01 3.79446184e-03 -1.12271587e-01 -1.28240851e+01] [-1.99514238e-04 9.99487400e-01 3.20140252e-02 2.19096016e-01] [ 1.12335513e-01 -3.17889866e-02 9.93161715e-01 8.33540280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.162557844 meters Centerline goodness : 0.222055 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.22, Z:0.83 [[ 9.93638388e-01 3.80595267e-03 -1.12553401e-01 -1.28232930e+01] [-2.08653589e-04 9.99489276e-01 3.19553442e-02 2.19242927e-01] [ 1.12617538e-01 -3.17285720e-02 9.93131707e-01 8.33377767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.222557844 meters Centerline goodness : 0.086814 with order 1 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.22, Z:0.83 [[ 9.93717785e-01 9.02193394e-04 -1.11911347e-01 -1.28257853e+01] [ 2.38701701e-03 9.99569167e-01 2.92537446e-02 2.17803326e-01] [ 1.11889524e-01 -2.93371006e-02 9.93287506e-01 8.34102765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.282557844 meters Centerline goodness : 0.119437 with order 1 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.22, Z:0.83 [[ 9.93718487e-01 1.07277923e-03 -1.11903610e-01 -1.28257913e+01] [ 2.24234498e-03 9.99562420e-01 2.94947541e-02 2.16914322e-01] [ 1.11886285e-01 -2.95604089e-02 9.93281250e-01 8.34089501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.342557844 meters Centerline goodness : 0.086441 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.21, Z:0.83 [[ 9.93466036e-01 1.53994909e-03 -1.14117765e-01 -1.28739663e+01] [ 1.88171712e-03 9.99552025e-01 2.98698565e-02 2.09541121e-01] [ 1.14112642e-01 -2.98894253e-02 9.93018090e-01 8.31964362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.402557844 meters Centerline goodness : 0.085776 with order 1 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.20, Z:0.83 [[ 9.93756711e-01 7.41867489e-03 -1.11321891e-01 -1.28539625e+01] [-4.39361301e-03 9.99615038e-01 2.73947608e-02 2.03397213e-01] [ 1.11482269e-01 -2.67346221e-02 9.93406746e-01 8.34148668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.462557844 meters Centerline goodness : 0.275690 with order 1 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.20, Z:0.83 [[ 9.93793863e-01 3.98882999e-03 -1.11165858e-01 -1.28538725e+01] [-1.23150815e-03 9.99690151e-01 2.48613096e-02 1.97039390e-01] [ 1.11230581e-01 -2.45701153e-02 9.93490849e-01 8.33629608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.522557844 meters Centerline goodness : 0.228370 with order 3 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.19, Z:0.83 [[ 9.93644799e-01 2.42951413e-03 -1.12534932e-01 -1.28478022e+01] [ 2.68356124e-04 9.99713067e-01 2.39522755e-02 1.90832201e-01] [ 1.12560834e-01 -2.38302534e-02 9.93359038e-01 8.31458323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.582557844 meters Centerline goodness : 0.218837 with order 3 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.18, Z:0.83 [[ 9.93700619e-01 -7.54651977e-04 -1.12064755e-01 -1.28498748e+01] [ 3.25354392e-03 9.99750085e-01 2.21174376e-02 1.81033151e-01] [ 1.12020057e-01 -2.23427191e-02 9.93454735e-01 8.32687127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.642557844 meters Centerline goodness : 0.218983 with order 3 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.17, Z:0.83 [[ 9.93804512e-01 -3.31420911e-03 -1.11092790e-01 -1.28540302e+01] [ 5.62950396e-03 9.99773308e-01 2.05339035e-02 1.73351452e-01] [ 1.10999552e-01 -2.10320833e-02 9.93597882e-01 8.34394043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.702557844 meters Centerline goodness : 0.110550 with order 3 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.16, Z:0.83 [[ 9.93805324e-01 -2.56015819e-03 -1.11105463e-01 -1.28529049e+01] [ 5.03362437e-03 9.99745573e-01 2.19875405e-02 1.63165533e-01] [ 1.11020904e-01 -2.24105980e-02 9.93565360e-01 8.33534218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.762557844 meters Centerline goodness : 0.150370 with order 1 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.15, Z:0.83 [[ 9.93762259e-01 -1.91323799e-03 -1.11502973e-01 -1.28513803e+01] [ 4.53267618e-03 9.99719562e-01 2.32433360e-02 1.54409251e-01] [ 1.11427234e-01 -2.36037570e-02 9.93492242e-01 8.33291778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.822557844 meters Centerline goodness : 0.148131 with order 1 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.15, Z:0.83 [[ 9.93739943e-01 -1.64047033e-03 -1.11706014e-01 -1.28506782e+01] [ 4.31284298e-03 9.99710148e-01 2.36858286e-02 1.52215963e-01] [ 1.11634780e-01 -2.40193244e-02 9.93458981e-01 8.33140530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.882557844 meters Centerline goodness : 0.148163 with order 1 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.15, Z:0.83 [[ 9.93742630e-01 -1.46297654e-03 -1.11684575e-01 -1.28505537e+01] [ 4.14596766e-03 9.99708275e-01 2.37944681e-02 1.51814201e-01] [ 1.11617183e-01 -2.41086179e-02 9.93458796e-01 8.32832127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942557844 meters Centerline goodness : 0.221948 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.15, Z:0.83 [[ 9.93796061e-01 8.44023779e-03 -1.10897033e-01 -1.28733779e+01] [-5.75728147e-03 9.99683467e-01 2.44912101e-02 1.48157675e-01] [ 1.11068642e-01 -2.37008027e-02 9.93530084e-01 8.30429305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002557844 meters Centerline goodness : 0.146041 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.15, Z:0.83 [[ 9.93768434e-01 8.33940119e-03 -1.11151940e-01 -1.28726852e+01] [-5.66843576e-03 9.99688051e-01 2.43242465e-02 1.48553152e-01] [ 1.11320116e-01 -2.35426107e-02 9.93505701e-01 8.30323608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062557844 meters Centerline goodness : 0.127032 with order 2 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.15, Z:0.83 [[ 9.93778235e-01 8.39402181e-03 -1.11060165e-01 -1.28734670e+01] [-5.69781985e-03 9.99681823e-01 2.45721018e-02 1.47535115e-01] [ 1.11231087e-01 -2.37864191e-02 9.93509865e-01 8.31093444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122557844 meters Centerline goodness : 0.147403 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.15, Z:0.83 [[ 9.93797963e-01 8.33756308e-03 -1.10887750e-01 -1.28741658e+01] [-5.65344864e-03 9.99683890e-01 2.44981231e-02 1.47860831e-01] [ 1.11056952e-01 -2.37192866e-02 9.93530950e-01 8.31400994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18255784400003 meters Centerline goodness : 0.220968 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.15, Z:0.83 [[ 9.93768015e-01 8.08734907e-03 -1.11174310e-01 -1.28730517e+01] [-5.46402235e-03 9.99699877e-01 2.38809777e-02 1.51107274e-01] [ 1.11334078e-01 -2.31246929e-02 9.93513951e-01 8.30781205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24255784400003 meters Centerline goodness : 0.146462 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.15, Z:0.83 [[ 9.93792460e-01 4.40232429e-03 -1.11162789e-01 -1.28732300e+01] [-2.15186520e-03 9.99790468e-01 2.03565822e-02 1.51596191e-01] [ 1.11229113e-01 -1.99910106e-02 9.93593702e-01 8.30771849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30255784400003 meters Centerline goodness : 0.149406 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.15, Z:0.83 [[ 9.93832823e-01 1.29481573e-04 -1.10888694e-01 -1.28741452e+01] [ 1.74436581e-03 9.99857327e-01 1.68012718e-02 1.49059906e-01] [ 1.10875049e-01 -1.68910859e-02 9.93690804e-01 8.31031790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36255784400004 meters Centerline goodness : 0.128398 with order 2 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.14, Z:0.83 [[ 9.93881705e-01 8.18308979e-03 -1.10146240e-01 -1.28550238e+01] [-6.47342019e-03 9.99853101e-01 1.58704810e-02 1.44291909e-01] [ 1.10259930e-01 -1.50603578e-02 9.93788677e-01 8.34406407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42255784400004 meters Centerline goodness : 0.110749 with order 2 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.14, Z:0.83 [[ 9.93888877e-01 4.89977587e-03 -1.10276441e-01 -1.28541707e+01] [-3.50314399e-03 9.99911234e-01 1.28550131e-02 1.43120948e-01] [ 1.10329639e-01 -1.23901403e-02 9.93817818e-01 8.33841029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.482557844 meters Centerline goodness : 0.151224 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.13, Z:0.83 [[ 9.93786499e-01 1.26314860e-02 -1.10584088e-01 -1.28737082e+01] [-1.14073851e-02 9.99866539e-01 1.16951257e-02 1.34793689e-01] [ 1.10717056e-01 -1.03609828e-02 9.93797959e-01 8.30041840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.542557844 meters Centerline goodness : 0.155978 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.14, Z:0.83 [[ 9.93728986e-01 1.29237631e-02 -1.11066098e-01 -1.28724679e+01] [-1.16878676e-02 9.99862404e-01 1.17714775e-02 1.35270020e-01] [ 1.11202947e-01 -1.03995325e-02 9.93743304e-01 8.29991402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.602557844 meters Centerline goodness : 0.377980 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.14, Z:0.83 [[ 9.93667273e-01 1.31878281e-02 -1.11585984e-01 -1.28707318e+01] [-1.19447224e-02 9.99859013e-01 1.18015636e-02 1.35747471e-01] [ 1.11725889e-01 -1.03939639e-02 9.93684704e-01 8.29321787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.662557844 meters Centerline goodness : 0.151891 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.13, Z:0.83 [[ 9.93708074e-01 1.33029481e-02 -1.11208339e-01 -1.28720516e+01] [-1.20350696e-02 9.99854792e-01 1.20644788e-02 1.34475399e-01] [ 1.11352684e-01 -1.06501699e-02 9.93723882e-01 8.29795951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.722557844 meters Centerline goodness : 0.279726 with order 1 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.14, Z:0.83 [[ 9.93888691e-01 3.65466119e-03 -1.10326396e-01 -1.28515531e+01] [-2.34586528e-03 9.99925361e-01 1.19904166e-02 1.35491336e-01] [ 1.10361982e-01 -1.16583286e-02 9.93823081e-01 8.32442314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.782557844 meters Centerline goodness : 0.151286 with order 1 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.13, Z:0.83 [[ 9.93896888e-01 3.76717591e-03 -1.10248736e-01 -1.28518898e+01] [-2.40678048e-03 9.99919352e-01 1.24698070e-02 1.33172660e-01] [ 1.10286821e-01 -1.21283579e-02 9.93825800e-01 8.32763540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.842557844 meters Centerline goodness : 0.148415 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.13, Z:0.84 [[ 9.94028956e-01 1.28291152e-03 -1.09109067e-01 -1.28582437e+01] [-1.48589663e-04 9.99945869e-01 1.04037151e-02 1.31527676e-01] [ 1.09116508e-01 -1.03253816e-02 9.93975339e-01 8.35915506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.902557844 meters Centerline goodness : 0.270617 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.13, Z:0.84 [[ 9.94030677e-01 1.41725979e-03 -1.09091728e-01 -1.28584128e+01] [-2.49405362e-04 9.99942528e-01 1.07181522e-02 1.29833768e-01] [ 1.09100649e-01 -1.06269641e-02 9.93973901e-01 8.36088240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.962557844 meters Centerline goodness : 0.404434 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.12, Z:0.84 [[ 9.94217649e-01 -1.17971056e-03 -1.07377257e-01 -1.28645808e+01] [ 2.14476966e-03 9.99958338e-01 8.87251599e-03 1.24282682e-01] [ 1.07362316e-01 -9.05151147e-03 9.94178758e-01 8.37712029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.022557844 meters Centerline goodness : 0.146480 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.12, Z:0.84 [[ 9.94193769e-01 -8.53646556e-04 -1.07601212e-01 -1.28642916e+01] [ 1.90595604e-03 9.99951358e-01 9.67725702e-03 1.20174817e-01] [ 1.07587717e-01 -9.82615181e-03 9.94147036e-01 8.38254026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.082557844 meters Centerline goodness : 0.143657 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.11, Z:0.84 [[ 9.93997833e-01 -2.73759237e-03 -1.09365502e-01 -1.28564046e+01] [ 3.69463903e-03 9.99956629e-01 8.54921827e-03 1.12872486e-01] [ 1.09337355e-01 -8.90197049e-03 9.93964837e-01 8.35166329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.142557844 meters Centerline goodness : 0.133776 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.11, Z:0.83 [[ 9.94029026e-01 -2.26004316e-03 -1.09092566e-01 -1.28568803e+01] [ 3.30093320e-03 9.99950730e-01 9.36169759e-03 1.09507390e-01] [ 1.09066033e-01 -9.66590640e-03 9.93987510e-01 8.34902169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.202557844 meters Centerline goodness : 0.117320 with order 3 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.11, Z:0.83 [[ 9.94022097e-01 -1.63247870e-03 -1.09166872e-01 -1.28565629e+01] [ 2.75086480e-03 9.99945261e-01 1.00949220e-02 1.06466252e-01] [ 1.09144416e-01 -1.03348788e-02 9.93972176e-01 8.34814801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.262557844 meters Centerline goodness : 0.121243 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.10, Z:0.83 [[ 9.93793792e-01 7.26843976e-03 -1.11000309e-01 -1.28759551e+01] [-6.22102052e-03 9.99932827e-01 9.77961193e-03 1.00577677e-01] [ 1.11063935e-01 -9.02838242e-03 9.93772253e-01 8.31882510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.322557844 meters Centerline goodness : 0.401929 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.10, Z:0.83 [[ 9.93816350e-01 1.75641190e-02 -1.09638338e-01 -1.28559993e+01] [-1.65792324e-02 9.99813658e-01 9.88827252e-03 9.75564952e-02] [ 1.09791586e-01 -8.00940742e-03 9.93922360e-01 8.34445062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.382557844 meters Centerline goodness : 0.114576 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.10, Z:0.83 [[ 9.93883424e-01 1.77395324e-02 -1.09000223e-01 -1.28579739e+01] [-1.67575082e-02 9.99810383e-01 9.91886994e-03 9.80261889e-02] [ 1.09155511e-01 -8.03162828e-03 9.93992237e-01 8.34742308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442557844 meters Centerline goodness : 0.124547 with order 2 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.10, Z:0.83 [[ 9.93874559e-01 1.76879162e-02 -1.09089409e-01 -1.28579148e+01] [-1.67284658e-02 9.99812977e-01 9.70407309e-03 9.90888843e-02] [ 1.09240651e-01 -7.81973292e-03 9.93984573e-01 8.34932668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502557844 meters Centerline goodness : 0.122725 with order 2 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.10, Z:0.84 [[ 9.93894528e-01 1.76154888e-02 -1.08919064e-01 -1.28585496e+01] [-1.66772243e-02 9.99815609e-01 9.51935023e-03 1.00107411e-01] [ 1.09066668e-01 -7.64476245e-03 9.94005040e-01 8.35128433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562557844 meters Centerline goodness : 0.135060 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.10, Z:0.84 [[ 9.93943273e-01 1.73093124e-02 -1.08522615e-01 -1.28599448e+01] [-1.64504023e-02 9.99825914e-01 8.80491493e-03 1.03880218e-01] [ 1.08656130e-01 -6.96634528e-03 9.94054986e-01 8.35507885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622557844 meters Centerline goodness : 0.138491 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.11, Z:0.84 [[ 9.94014143e-01 1.69814276e-02 -1.07923653e-01 -1.28617955e+01] [-1.62146164e-02 9.99836699e-01 7.97875626e-03 1.08213187e-01] [ 1.08041520e-01 -6.18105593e-03 9.94127167e-01 8.35758993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68255784400003 meters Centerline goodness : 0.128183 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.12, Z:0.84 [[ 9.94045468e-01 1.66582099e-02 -1.07685240e-01 -1.28623408e+01] [-1.60125821e-02 9.99848275e-01 6.85746462e-03 1.17727965e-01] [ 1.07783134e-01 -5.09231288e-03 9.94161387e-01 8.35516055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74255784400003 meters Centerline goodness : 0.128559 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.12, Z:0.83 [[ 9.93971093e-01 1.61139256e-02 -1.08451865e-01 -1.28595562e+01] [-1.55778128e-02 9.99861901e-01 5.78878689e-03 1.22380825e-01] [ 1.08530168e-01 -4.06444399e-03 9.94084847e-01 8.34357417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80255784400003 meters Centerline goodness : 0.132037 with order 1 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.13, Z:0.83 [[ 9.94216883e-01 7.63009950e-03 -1.07119426e-01 -1.28810155e+01] [-6.98005557e-03 9.99954889e-01 6.44202665e-03 1.29031336e-01] [ 1.07163747e-01 -5.65707210e-03 9.94225291e-01 8.30604288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86255784400004 meters Centerline goodness : 0.131684 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.13, Z:0.83 [[ 9.94502291e-01 -4.25953179e-04 -1.04713951e-01 -1.28615709e+01] [ 1.17860451e-03 9.99973916e-01 7.12591592e-03 1.32602931e-01] [ 1.04708185e-01 -7.21015604e-03 9.94476852e-01 8.33405107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92255784400004 meters Centerline goodness : 0.129251 with order 1 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.13, Z:0.83 [[ 9.94149612e-01 -1.99174812e-03 -1.07993432e-01 -1.29064897e+01] [ 2.73608571e-03 9.99973511e-01 6.74469890e-03 1.26801203e-01] [ 1.07977138e-01 -7.00071909e-03 9.94128728e-01 8.30244687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.982557844 meters Centerline goodness : 0.132425 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.12, Z:0.83 [[ 9.93966677e-01 -4.40118515e-03 -1.09594135e-01 -1.28998678e+01] [ 5.01075229e-03 9.99973468e-01 5.28725761e-03 1.19540578e-01] [ 1.09567957e-01 -5.80450694e-03 9.93962359e-01 8.28064555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.042557844 meters Centerline goodness : 0.131510 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.11, Z:0.83 [[ 9.93964355e-01 -7.78254321e-03 -1.09427115e-01 -1.29010219e+01] [ 8.20973632e-03 9.99960335e-01 3.45390402e-03 1.08054486e-01] [ 1.09395894e-01 -4.33142524e-03 9.93988821e-01 8.29214417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.102557844 meters Centerline goodness : 0.130159 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.10, Z:0.83 [[ 9.93945172e-01 -1.02252742e-02 -1.09400361e-01 -1.29004172e+01] [ 1.05399009e-02 9.99941813e-01 2.29802203e-03 9.92617708e-02] [ 1.09370497e-01 -3.43717687e-03 9.93995111e-01 8.29005187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.162557844 meters Centerline goodness : 0.129421 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.09, Z:0.83 [[ 9.93910315e-01 -1.40083453e-02 -1.09297997e-01 -1.29001886e+01] [ 1.40467725e-02 9.99901252e-01 -4.18396798e-04 9.28955121e-02] [ 1.09293065e-01 -1.11943520e-03 9.94008940e-01 8.28735963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.222557844 meters Centerline goodness : 0.132958 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.08, Z:0.83 [[ 9.93956258e-01 -6.24430534e-03 -1.09599112e-01 -1.29197320e+01] [ 6.14873648e-03 9.99980364e-01 -1.20993339e-03 8.47684558e-02] [ 1.09604515e-01 5.28724809e-04 9.93975136e-01 8.25665606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.282557844 meters Centerline goodness : 0.128557 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.08, Z:0.83 [[ 9.94040051e-01 2.62439065e-03 -1.08983901e-01 -1.29003989e+01] [-2.86116292e-03 9.99993874e-01 -2.01622402e-03 8.04912754e-02] [ 1.08977942e-01 2.31602812e-03 9.94041470e-01 8.29273933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.342557844 meters Centerline goodness : 0.135540 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.08, Z:0.83 [[ 9.94084880e-01 2.76587656e-03 -1.08570725e-01 -1.29018586e+01] [-2.98122242e-03 9.99993898e-01 -1.82119491e-03 7.94274921e-02] [ 1.08565025e-01 2.13409580e-03 9.94087059e-01 8.29719633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.402557844 meters Centerline goodness : 0.242237 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.07, Z:0.83 [[ 9.94361356e-01 7.00481046e-03 -1.05813170e-01 -1.29249907e+01] [-7.53433154e-03 9.99961011e-01 -4.60538863e-03 7.24643058e-02] [ 1.05776785e-01 5.37665199e-03 9.94375363e-01 8.27043081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.462557844 meters Centerline goodness : 0.170926 with order 3 Centerline is valid? [False, False] Translation: X:-12.93, Y:0.07, Z:0.83 [[ 9.94375393e-01 7.22175710e-03 -1.05666566e-01 -1.29254680e+01] [-7.68532119e-03 9.99962545e-01 -3.98051807e-03 6.94264394e-02] [ 1.05633862e-01 4.77021073e-03 9.94393651e-01 8.27226429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.522557844 meters Centerline goodness : 0.115898 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.06, Z:0.83 [[ 9.94352260e-01 3.27460885e-03 -1.06079499e-01 -1.29244017e+01] [-4.02550106e-03 9.99968331e-01 -6.86523726e-03 6.35560355e-02] [ 1.06053659e-01 7.25348733e-03 9.94333952e-01 8.27227191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.582557844 meters Centerline goodness : 0.130377 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.06, Z:0.83 [[ 9.94326344e-01 3.76966884e-03 -1.06305744e-01 -1.29238833e+01] [-4.42284987e-03 9.99972759e-01 -5.90927607e-03 5.91691761e-02] [ 1.06280572e-01 6.34592322e-03 9.94315930e-01 8.27414295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.642557844 meters Centerline goodness : 0.128949 with order 1 Centerline is valid? [False, False] Translation: X:-12.95, Y:0.05, Z:0.82 [[ 9.94488950e-01 1.18362203e-02 -1.04171171e-01 -1.29453590e+01] [-1.25123295e-02 9.99904668e-01 -5.83925012e-03 4.91140977e-02] [ 1.04092126e-01 7.11049374e-03 9.94542242e-01 8.23012686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.702557844 meters Centerline goodness : 0.127088 with order 1 Centerline is valid? [False, False] Translation: X:-12.95, Y:0.05, Z:0.82 [[ 9.94486742e-01 1.22102892e-02 -1.04149072e-01 -1.29454698e+01] [-1.28712631e-02 9.99901048e-01 -5.67666616e-03 4.91329146e-02] [ 1.04069452e-01 6.98589934e-03 9.94545497e-01 8.23140928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.762557844 meters Centerline goodness : 0.136327 with order 1 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.05, Z:0.82 [[ 9.94427259e-01 1.24832342e-02 -1.04683309e-01 -1.29438673e+01] [-1.30998324e-02 9.99900648e-01 -5.20461681e-03 4.66013878e-02] [ 1.04607938e-01 6.54694664e-03 9.94491989e-01 8.22901788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.822557844 meters Centerline goodness : 0.227423 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.04, Z:0.82 [[ 9.94528406e-01 3.00775664e-03 -1.04423196e-01 -1.29201175e+01] [-3.56325605e-03 9.99980475e-01 -5.13354761e-03 4.47564993e-02] [ 1.04405717e-01 5.47754551e-03 9.94519705e-01 8.23710297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.882557844 meters Centerline goodness : 0.120583 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.03, Z:0.82 [[ 9.94561852e-01 -2.08067102e-03 -1.04126814e-01 -1.29210430e+01] [ 1.22695070e-03 9.99965114e-01 -8.26223369e-03 3.29997992e-02] [ 1.04140373e-01 8.08954397e-03 9.94529709e-01 8.24095185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.942557844 meters Centerline goodness : 0.136828 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.03, Z:0.82 [[ 9.94545247e-01 -6.03207605e-03 -1.04131486e-01 -1.29214921e+01] [ 4.88571875e-03 9.99924665e-01 -1.12603143e-02 2.85740395e-02] [ 1.04191564e-01 1.06901349e-02 9.94499793e-01 8.24710861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002557844 meters Centerline goodness : 0.131764 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.03, Z:0.82 [[ 9.94565489e-01 -5.86447475e-03 -1.03947564e-01 -1.29218871e+01] [ 4.79488304e-03 9.99932992e-01 -1.05366259e-02 2.53420264e-02] [ 1.04002390e-01 9.98094804e-03 9.94526965e-01 8.24407862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062557844 meters Centerline goodness : 0.260087 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.02, Z:0.82 [[ 9.94653114e-01 -6.24210429e-03 -1.03083555e-01 -1.29244954e+01] [ 5.22529683e-03 9.99935027e-01 -1.01310143e-02 2.24076036e-02] [ 1.03140096e-01 9.53820272e-03 9.94621105e-01 8.24461578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122557844 meters Centerline goodness : 0.136842 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.02, Z:0.82 [[ 9.94656975e-01 -6.24752491e-03 -1.03045961e-01 -1.29248174e+01] [ 5.26848889e-03 9.99938389e-01 -9.77040503e-03 2.03668288e-02] [ 1.03100653e-01 9.17530501e-03 9.94628609e-01 8.24535928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18255784400003 meters Centerline goodness : 0.262746 with order 3 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.01, Z:0.82 [[ 9.94633496e-01 1.98296186e-03 -1.03442143e-01 -1.29438848e+01] [-3.07612651e-03 9.99941089e-01 -1.04094268e-02 1.12848351e-02] [ 1.03415408e-01 1.06717657e-02 9.94581001e-01 8.21193308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24255784400003 meters Centerline goodness : 0.146568 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.01, Z:0.82 [[ 9.94631238e-01 1.43567614e-03 -1.03472887e-01 -1.28977365e+01] [-2.68497315e-03 9.99925166e-01 -1.19353921e-02 1.30576797e-02] [ 1.03448008e-01 1.21491358e-02 9.94560661e-01 8.24809137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30255784400003 meters Centerline goodness : 0.194340 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.01, Z:0.82 [[ 9.94635060e-01 1.48109596e-03 -1.03435503e-01 -1.28978069e+01] [-2.71560449e-03 9.99926746e-01 -1.17952535e-02 1.26451103e-02] [ 1.03410456e-01 1.20128625e-02 9.94566221e-01 8.24735729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36255784400004 meters Centerline goodness : 0.214197 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.02, Z:0.83 [[ 9.94756628e-01 -6.72393617e-03 -1.02049199e-01 -1.28781827e+01] [ 5.63097271e-03 9.99923704e-01 -1.09944590e-02 1.54906288e-02] [ 1.02115339e-01 1.03621747e-02 9.94718595e-01 8.27697078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42255784400004 meters Centerline goodness : 0.138899 with order 1 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.01, Z:0.83 [[ 9.94801204e-01 -7.20626468e-03 -1.01580675e-01 -1.28794566e+01] [ 6.16324094e-03 9.99925057e-01 -1.05780465e-02 1.31682984e-02] [ 1.01649291e-01 9.89698726e-03 9.94771065e-01 8.26901639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.482557844 meters Centerline goodness : 0.223584 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.01, Z:0.83 [[ 9.94803979e-01 -7.36176957e-03 -1.01542349e-01 -1.28797725e+01] [ 6.37822858e-03 9.99929584e-01 -1.00072927e-02 1.05241443e-02] [ 1.01608870e-01 9.30763431e-03 9.94780883e-01 8.26449136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.542557844 meters Centerline goodness : 0.140053 with order 1 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.01, Z:0.83 [[ 9.94919279e-01 -8.32607841e-03 -1.00330972e-01 -1.28842661e+01] [ 7.34618968e-03 9.99921684e-01 -1.01320717e-02 9.34132444e-03] [ 1.00407474e-01 9.34354310e-03 9.94902527e-01 8.27181055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.602557844 meters Centerline goodness : 0.115649 with order 2 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.01, Z:0.83 [[ 9.95025632e-01 -8.78433328e-03 -9.92311829e-02 -1.28875888e+01] [ 7.82883527e-03 9.99919208e-01 -1.00143099e-02 8.59276701e-03] [ 9.93111348e-02 9.18763045e-03 9.95014013e-01 8.27034085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.662557844 meters Centerline goodness : 0.191116 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.01, Z:0.83 [[ 9.95077192e-01 -9.08111433e-03 -9.86859465e-02 -1.28893202e+01] [ 8.15741909e-03 9.99919102e-01 -9.75942413e-03 7.35460268e-03] [ 9.87665894e-02 8.90635773e-03 9.95070770e-01 8.26721724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.722557844 meters Centerline goodness : 0.213092 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.00, Z:0.83 [[ 9.95070612e-01 -9.44916032e-03 -9.87177310e-02 -1.28893793e+01] [ 8.59867848e-03 9.99922193e-01 -9.03720984e-03 3.89364023e-03] [ 9.87954441e-02 8.14381990e-03 9.95074439e-01 8.25695148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.782557844 meters Centerline goodness : 0.228374 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:-0.00, Z:0.83 [[ 9.94980013e-01 -1.36244453e-02 -9.91420561e-02 -1.28878684e+01] [ 1.25009396e-02 9.99850514e-01 -1.19447149e-02 -9.47587758e-04] [ 9.92899758e-02 1.06453838e-02 9.95001596e-01 8.25362517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.842557844 meters Centerline goodness : 0.227017 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:-0.00, Z:0.82 [[ 9.94964648e-01 -1.30277384e-02 -9.93761948e-02 -1.28870519e+01] [ 1.20118572e-02 9.99869377e-01 -1.08140926e-02 -4.66176262e-03] [ 9.95040971e-02 9.56594721e-03 9.94991169e-01 8.24824727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.902557844 meters Centerline goodness : 0.230465 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:-0.01, Z:0.82 [[ 9.94853245e-01 3.72906318e-03 -1.01257669e-01 -1.29231787e+01] [-4.95872958e-03 9.99916957e-01 -1.18949480e-02 -1.34609851e-02] [ 1.01204903e-01 1.23358370e-02 9.94789121e-01 8.20511596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.962557844 meters Centerline goodness : 0.263129 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:-0.01, Z:0.82 [[ 9.94873287e-01 1.45898920e-02 -1.00071361e-01 -1.29021435e+01] [-1.58240969e-02 9.99808073e-01 -1.15505525e-02 -1.48628996e-02] [ 9.98836336e-02 1.30748751e-02 9.94913216e-01 8.22379228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.022557844 meters Centerline goodness : 0.142039 with order 1 Centerline is valid? [False, False] Translation: X:-12.88, Y:-0.01, Z:0.82 [[ 9.95276252e-01 1.15908152e-02 -9.63889757e-02 -1.28798664e+01] [-1.24371979e-02 9.99889157e-01 -8.18472478e-03 -1.22861455e-02] [ 9.62834240e-02 9.34487097e-03 9.95310090e-01 8.23203703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.082557844 meters Centerline goodness : 0.161690 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:-0.01, Z:0.82 [[ 9.95147477e-01 1.19275721e-02 -9.76689891e-02 -1.28757652e+01] [-1.27920049e-02 9.99884316e-01 -8.22921512e-03 -1.13349599e-02] [ 9.75595358e-02 9.43866486e-03 9.95184932e-01 8.22088084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.142557844 meters Centerline goodness : 0.135238 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:-0.01, Z:0.82 [[ 9.95121905e-01 1.19003072e-02 -9.79325088e-02 -1.28747240e+01] [-1.27769319e-02 9.99883682e-01 -8.32902033e-03 -1.07940918e-02] [ 9.78219996e-02 9.53966758e-03 9.95158204e-01 8.21598665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.202557844 meters Centerline goodness : 0.190970 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:-0.01, Z:0.82 [[ 9.95027695e-01 1.20493751e-02 -9.88670772e-02 -1.28718326e+01] [-1.29607259e-02 9.99879187e-01 -8.58083201e-03 -8.81198464e-03] [ 9.87517392e-02 9.81955458e-03 9.95063651e-01 8.20966463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.262557844 meters Centerline goodness : 0.222510 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:-0.01, Z:0.82 [[ 9.95067991e-01 1.20073329e-02 -9.84658202e-02 -1.28729294e+01] [-1.29350885e-02 9.99877710e-01 -8.78912085e-03 -7.60087042e-03] [ 9.83482449e-02 1.00194369e-02 9.95101620e-01 8.21045189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.322557844 meters Centerline goodness : 0.236982 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:-0.01, Z:0.82 [[ 9.95082036e-01 1.19849429e-02 -9.83265063e-02 -1.28731830e+01] [-1.29205330e-02 9.99877061e-01 -8.88387880e-03 -6.95942323e-03] [ 9.82079454e-02 1.01106191e-02 9.95114554e-01 8.20869215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.382557844 meters Centerline goodness : 0.236666 with order 3 Centerline is valid? [False, False] Translation: X:-12.85, Y:-0.00, Z:0.82 [[ 9.95053310e-01 3.91643382e-03 -9.92651542e-02 -1.28511185e+01] [-4.81651890e-03 9.99949420e-01 -8.82945639e-03 -2.65411342e-03] [ 9.92255533e-02 9.26389231e-03 9.95021844e-01 8.23407717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.442557844 meters Centerline goodness : 0.137357 with order 1 Centerline is valid? [False, False] Translation: X:-12.85, Y:-0.00, Z:0.82 [[ 9.95080693e-01 3.93044535e-03 -9.89897279e-02 -1.28524659e+01] [-4.83546198e-03 9.99948665e-01 -8.90427010e-03 -1.60873611e-03] [ 9.89496485e-02 9.33912833e-03 9.95048616e-01 8.24200734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502557844 meters Centerline goodness : 0.272305 with order 3 Centerline is valid? [False, False] Translation: X:-12.85, Y:-0.00, Z:0.83 [[ 9.95125897e-01 3.86536110e-03 -9.85368358e-02 -1.28542958e+01] [-4.78672625e-03 9.99946994e-01 -9.11576913e-03 -5.93877875e-04] [ 9.84963769e-02 9.54300679e-03 9.95091651e-01 8.25092338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562557844 meters Centerline goodness : 0.250531 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.00, Z:0.83 [[ 9.95439265e-01 1.30664129e-02 -9.44983559e-02 -1.28367126e+01] [-1.40570947e-02 9.99852918e-01 -9.82549360e-03 5.15311147e-05] [ 9.43560730e-02 1.11090545e-02 9.95476529e-01 8.27271227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.622557844 meters Centerline goodness : 0.131661 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.00, Z:0.83 [[ 9.95448478e-01 1.30856517e-02 -9.43985881e-02 -1.28370640e+01] [-1.41028449e-02 9.99849373e-01 -1.01164107e-02 1.58346637e-03] [ 9.42519893e-02 1.14016543e-02 9.95483081e-01 8.27456313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68255784400003 meters Centerline goodness : 0.133641 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.00, Z:0.83 [[ 9.95384155e-01 1.33569168e-02 -9.50367143e-02 -1.28351279e+01] [-1.43622006e-02 9.99847830e-01 -9.90167408e-03 9.69133705e-04] [ 9.48899967e-02 1.12209058e-02 9.95424522e-01 8.27009818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74255784400003 meters Centerline goodness : 0.173939 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:-0.00, Z:0.83 [[ 9.95451483e-01 1.36860016e-02 -9.42817017e-02 -1.28374994e+01] [-1.46359297e-02 9.99848785e-01 -9.39128000e-03 -1.03983082e-03] [ 9.41389159e-02 1.07284640e-02 9.95501263e-01 8.27608896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80255784400003 meters Centerline goodness : 0.122304 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.00, Z:0.83 [[ 9.95409217e-01 6.76429088e-03 -9.54711267e-02 -1.28175873e+01] [-7.64468541e-03 9.99931538e-01 -8.85883053e-03 1.98852327e-03] [ 9.54046669e-02 9.54800828e-03 9.95392779e-01 8.29920480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86255784400004 meters Centerline goodness : 0.136604 with order 3 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.00, Z:0.83 [[ 9.95213335e-01 9.35476711e-03 -9.72774746e-02 -1.28096957e+01] [-1.00578636e-02 9.99926704e-01 -6.73988051e-03 2.33176976e-03] [ 9.72072946e-02 7.68602253e-03 9.95234478e-01 8.26671284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92255784400004 meters Centerline goodness : 0.117896 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.00, Z:0.83 [[ 9.95469082e-01 1.13245287e-02 -9.44090153e-02 -1.27676595e+01] [-1.19755393e-02 9.99908242e-01 -6.33191115e-03 3.49439906e-03] [ 9.43286466e-02 7.43382065e-03 9.95513357e-01 8.30923457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.982557844 meters Centerline goodness : 0.134157 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.00, Z:0.83 [[ 9.95544887e-01 7.23736223e-03 -9.40106336e-02 -1.27682897e+01] [-8.19461497e-03 9.99918398e-01 -9.80033161e-03 9.14017695e-04] [ 9.39320335e-02 1.05270510e-02 9.95522955e-01 8.30270502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.042557844 meters Centerline goodness : 0.213596 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:-0.00, Z:0.83 [[ 9.95491096e-01 7.39232358e-03 -9.45665424e-02 -1.27663383e+01] [-8.30654254e-03 9.99922462e-01 -9.27747513e-03 -2.09035812e-03] [ 9.44906278e-02 1.00211649e-02 9.95475312e-01 8.29543398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.102557844 meters Centerline goodness : 0.127909 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:-0.00, Z:0.83 [[ 9.95486300e-01 7.48411613e-03 -9.46097974e-02 -1.27661769e+01] [-8.38821368e-03 9.99922845e-01 -9.16198043e-03 -2.52576310e-03] [ 9.45339285e-02 9.91423320e-03 9.95472272e-01 8.29494342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.162557844 meters Centerline goodness : 0.130569 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:-0.00, Z:0.83 [[ 9.95495690e-01 7.50042900e-03 -9.45096588e-02 -1.27662410e+01] [-8.42324923e-03 9.99920631e-01 -9.36914402e-03 -1.10438042e-03] [ 9.44318850e-02 1.01230209e-02 9.95479856e-01 8.29308740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.222557844 meters Centerline goodness : 0.233314 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.00, Z:0.83 [[ 9.95448110e-01 7.34097922e-03 -9.50219456e-02 -1.27644470e+01] [-8.31372084e-03 9.99916974e-01 -9.84517802e-03 8.93268826e-04] [ 9.49417830e-02 1.05903498e-02 9.95426493e-01 8.28764031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.282557844 meters Centerline goodness : 0.126412 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.00, Z:0.83 [[ 9.95464688e-01 7.30212891e-03 -9.48511157e-02 -1.27649168e+01] [-8.27144063e-03 9.99917472e-01 -9.83015092e-03 8.69168988e-04] [ 9.47715068e-02 1.05701235e-02 9.95442934e-01 8.28681685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.342557844 meters Centerline goodness : 0.129000 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:-0.00, Z:0.83 [[ 9.95505967e-01 7.33307099e-03 -9.44144894e-02 -1.27660550e+01] [-8.27306413e-03 9.99919997e-01 -9.56845068e-03 -1.77061500e-04] [ 9.43367699e-02 1.03065469e-02 9.95486991e-01 8.28483381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.402557844 meters Centerline goodness : 0.127487 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:-0.00, Z:0.83 [[ 9.95479431e-01 7.36901144e-03 -9.46910757e-02 -1.27653122e+01] [-8.30142610e-03 9.99920825e-01 -9.45676159e-03 -6.84249121e-04] [ 9.46138915e-02 1.02000826e-02 9.95461787e-01 8.28489636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.462557844 meters Centerline goodness : 0.127003 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.00, Z:0.83 [[ 9.95482132e-01 7.54681388e-03 -9.46486655e-02 -1.27653527e+01] [-8.52606728e-03 9.99914187e-01 -9.94606064e-03 2.50036502e-03] [ 9.45654824e-02 1.07081065e-02 9.95461052e-01 8.28594066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.522557844 meters Centerline goodness : 0.215873 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.01, Z:0.83 [[ 9.95446523e-01 2.15668963e-03 -9.52972644e-02 -1.27507509e+01] [-2.92536310e-03 9.99964301e-01 -7.92708892e-03 1.24251632e-02] [ 9.52767661e-02 8.16977220e-03 9.95417296e-01 8.32265800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.582557844 meters Centerline goodness : 0.209189 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.01, Z:0.83 [[ 9.95505848e-01 2.15177059e-03 -9.46756351e-02 -1.27525608e+01] [-2.94620378e-03 9.99961610e-01 -8.25212432e-03 1.42893865e-02] [ 9.46542439e-02 8.49397173e-03 9.95473971e-01 8.32529618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.642557844 meters Centerline goodness : 0.162559 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.02, Z:0.83 [[ 9.95489303e-01 2.07501874e-03 -9.48511581e-02 -1.27519692e+01] [-2.93475013e-03 9.99955861e-01 -8.92540720e-03 1.80204655e-02] [ 9.48284511e-02 9.16351184e-03 9.95451453e-01 8.32192725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.702557844 meters Centerline goodness : 0.259734 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.02, Z:0.83 [[ 9.95554741e-01 2.09568827e-03 -9.41613762e-02 -1.27536459e+01] [-2.99551478e-03 9.99951183e-01 -9.41588798e-03 2.15860218e-02] [ 9.41370468e-02 9.65609371e-03 9.95512419e-01 8.31938221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.762557844 meters Centerline goodness : 0.114134 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.03, Z:0.83 [[ 9.95686681e-01 2.26211358e-03 -9.27519061e-02 -1.27576578e+01] [-3.19195353e-03 9.99946118e-01 -9.87789867e-03 2.61427446e-02] [ 9.27245635e-02 1.01313519e-02 9.95640252e-01 8.32260126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.822557844 meters Centerline goodness : 0.231395 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.03, Z:0.83 [[ 9.95637282e-01 2.01361293e-03 -9.32863789e-02 -1.27557249e+01] [-2.99640839e-03 9.99941467e-01 -1.03963821e-02 2.83697562e-02] [ 9.32599843e-02 1.06305497e-02 9.95585037e-01 8.31446373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.882557844 meters Centerline goodness : 0.244481 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.03, Z:0.83 [[ 9.95607387e-01 1.82660118e-03 -9.36087257e-02 -1.27542433e+01] [-2.84686411e-03 9.99937983e-01 -1.07668492e-02 3.01180519e-02] [ 9.35832537e-02 1.09860459e-02 9.95550843e-01 8.30454726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.942557844 meters Centerline goodness : 0.139799 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.03, Z:0.83 [[ 9.95706071e-01 -1.25258097e-03 -9.25626891e-02 -1.27590685e+01] [ 3.54092687e-05 9.99913532e-01 -1.31501737e-02 2.67672496e-02] [ 9.25711570e-02 1.30904302e-02 9.95620019e-01 8.32580700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002557844 meters Centerline goodness : 0.207593 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.02, Z:0.83 [[ 9.95596170e-01 -1.72382227e-03 -9.37299046e-02 -1.27554595e+01] [ 5.06819192e-04 9.99915285e-01 -1.30064038e-02 2.37760058e-02] [ 9.37443850e-02 1.29016217e-02 9.95512701e-01 8.31950341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.062557844 meters Centerline goodness : 0.201271 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.02, Z:0.83 [[ 9.95562316e-01 -1.56597353e-03 -9.40915647e-02 -1.27543727e+01] [ 3.81956022e-04 9.99920539e-01 -1.26003652e-02 2.17653958e-02] [ 9.41038200e-02 1.25085099e-02 9.95483806e-01 8.31760732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.122557844 meters Centerline goodness : 0.197581 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.02, Z:0.83 [[ 9.95546624e-01 -1.37911657e-03 -9.42603674e-02 -1.27535577e+01] [ 1.94559487e-04 9.99920914e-01 -1.25748975e-02 2.23632256e-02] [ 9.42702550e-02 1.25005575e-02 9.95468159e-01 8.31244657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18255784400003 meters Centerline goodness : 0.124856 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.03, Z:0.83 [[ 9.95567006e-01 -7.84954747e-04 -9.40516850e-02 -1.27542111e+01] [-4.15631351e-04 9.99918694e-01 -1.27449049e-02 2.55206008e-02] [ 9.40540423e-02 1.27274977e-02 9.95485735e-01 8.31161511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24255784400003 meters Centerline goodness : 0.126223 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.03, Z:0.83 [[ 9.95553238e-01 3.10655023e-03 -9.41493460e-02 -1.27549038e+01] [-4.07370327e-03 9.99940876e-01 -1.00820873e-02 3.16733358e-02] [ 9.41124591e-02 1.04207911e-02 9.95507033e-01 8.31999120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30255784400003 meters Centerline goodness : 0.132727 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.03, Z:0.83 [[ 9.95585734e-01 2.84920466e-03 -9.38132576e-02 -1.27558067e+01] [-3.86571492e-03 9.99935756e-01 -1.06555197e-02 3.43810725e-02] [ 9.37768709e-02 1.09711387e-02 9.95532788e-01 8.31922187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36255784400004 meters Centerline goodness : 0.235105 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.03, Z:0.83 [[ 9.95590629e-01 2.68490292e-03 -9.37661544e-02 -1.27562522e+01] [-3.71320068e-03 9.99934850e-01 -1.07938713e-02 3.46060650e-02] [ 9.37310650e-02 1.10944496e-02 9.95535735e-01 8.32329013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42255784400004 meters Centerline goodness : 0.232718 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.03, Z:0.83 [[ 9.95599187e-01 2.53782458e-03 -9.36793401e-02 -1.27570043e+01] [-3.56022001e-03 9.99935898e-01 -1.07482636e-02 3.44383480e-02] [ 9.36460578e-02 1.10344816e-02 9.95544402e-01 8.33074376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.482557844 meters Centerline goodness : 0.135193 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.04, Z:0.83 [[ 9.95581549e-01 2.35712066e-03 -9.38713076e-02 -1.27563259e+01] [-3.39945454e-03 9.99934318e-01 -1.09454998e-02 3.50363632e-02] [ 9.38393421e-02 1.12162489e-02 9.95524170e-01 8.32858799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.542557844 meters Centerline goodness : 0.257111 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.04, Z:0.83 [[ 9.95585387e-01 2.28426752e-03 -9.38323967e-02 -1.27565199e+01] [-3.33951638e-03 9.99932921e-01 -1.10906195e-02 3.58892475e-02] [ 9.38007685e-02 1.13550136e-02 9.95526232e-01 8.32941654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.602557844 meters Centerline goodness : 0.135139 with order 1 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.04, Z:0.83 [[ 9.95358033e-01 -5.52411134e-03 -9.60826254e-02 -1.27774816e+01] [ 4.67532865e-03 9.99948057e-01 -9.05677240e-03 3.87011703e-02] [ 9.61276651e-02 8.56551330e-03 9.95332158e-01 8.31799761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.662557844 meters Centerline goodness : 0.139080 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.04, Z:0.83 [[ 9.95483456e-01 8.08559099e-04 -9.49317394e-02 -1.27543624e+01] [-1.97529754e-03 9.99923663e-01 -1.21969602e-02 4.05106876e-02] [ 9.49146307e-02 1.23293905e-02 9.95409061e-01 8.32512708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.722557844 meters Centerline goodness : 0.127530 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.04, Z:0.83 [[ 9.95543534e-01 5.57667903e-04 -9.43014417e-02 -1.27568761e+01] [-1.74823616e-03 9.99919805e-01 -1.25429898e-02 4.20625926e-02] [ 9.42868844e-02 1.26519536e-02 9.95464671e-01 8.33647680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.782557844 meters Centerline goodness : 0.227006 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.04, Z:0.83 [[ 9.95552581e-01 4.83983900e-04 -9.42062816e-02 -1.27573472e+01] [-1.68138731e-03 9.99918806e-01 -1.26314812e-02 4.25301176e-02] [ 9.41925192e-02 1.27337010e-02 9.95472562e-01 8.33959549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.842557844 meters Centerline goodness : 0.122210 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.04, Z:0.83 [[ 9.95467512e-01 1.17132349e-04 -9.51021517e-02 -1.27543943e+01] [-1.36630589e-03 9.99913650e-01 -1.30700606e-02 4.36916908e-02] [ 9.50924087e-02 1.31407594e-02 9.95381713e-01 8.33088289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.902557844 meters Centerline goodness : 0.131446 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.04, Z:0.83 [[ 9.95491402e-01 1.51529747e-04 -9.48517006e-02 -1.27555796e+01] [-1.39479664e-03 9.99913986e-01 -1.30413197e-02 4.39177087e-02] [ 9.48415658e-02 1.31148205e-02 9.95405987e-01 8.33785248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.962557844 meters Centerline goodness : 0.122574 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.04, Z:0.83 [[ 9.95503070e-01 1.74729307e-04 -9.47291252e-02 -1.27560790e+01] [-1.41126144e-03 9.99914676e-01 -1.29865097e-02 4.37830816e-02] [ 9.47187734e-02 1.30617978e-02 9.95418376e-01 8.34035948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.022557844 meters Centerline goodness : 0.243670 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95511819e-01 -8.43074937e-06 -9.46372968e-02 -1.27565475e+01] [-1.27046313e-03 9.99908692e-01 -1.34533750e-02 4.59663904e-02] [ 9.46287691e-02 1.35132270e-02 9.95420910e-01 8.34347023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.082557844 meters Centerline goodness : 0.122071 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95512171e-01 4.28560867e-03 -9.45365027e-02 -1.27572159e+01] [-5.23386066e-03 9.99938430e-01 -9.78486785e-03 4.80625977e-02] [ 9.44887479e-02 1.02357459e-02 9.95473308e-01 8.34899093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.142557844 meters Centerline goodness : 0.132437 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95465163e-01 4.13667346e-03 -9.50368191e-02 -1.27553335e+01] [-5.10899242e-03 9.99937048e-01 -9.98992739e-03 4.84256147e-02] [ 9.49895112e-02 1.04301671e-02 9.95423631e-01 8.34094396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.202557844 meters Centerline goodness : 0.122283 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95456031e-01 4.19240231e-03 -9.51299904e-02 -1.27554812e+01] [-5.13629648e-03 9.99939961e-01 -9.67945758e-03 4.66756700e-02] [ 9.50836988e-02 1.01240903e-02 9.95417798e-01 8.34642348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.262557844 meters Centerline goodness : 0.188681 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95470207e-01 4.17413090e-03 -9.49823342e-02 -1.27558335e+01] [-5.11512888e-03 9.99940202e-01 -9.66576698e-03 4.65373216e-02] [ 9.49363084e-02 1.01078299e-02 9.95432031e-01 8.34600560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.322557844 meters Centerline goodness : 0.146042 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95465155e-01 4.04617070e-03 -9.50408027e-02 -1.27554481e+01] [-5.01677191e-03 9.99937656e-01 -9.97574886e-03 4.80220003e-02] [ 9.49945139e-02 1.04073084e-02 9.95423392e-01 8.34266571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.382557844 meters Centerline goodness : 0.138159 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95480355e-01 4.05190693e-03 -9.48812172e-02 -1.27559407e+01] [-5.04508706e-03 9.99934944e-01 -1.02300725e-02 4.98328951e-02] [ 9.48335933e-02 1.06625202e-02 9.95436035e-01 8.34347023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.442557844 meters Centerline goodness : 0.129995 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95495118e-01 3.87839713e-03 -9.47334616e-02 -1.27563292e+01] [-4.92989811e-03 9.99928788e-01 -1.08680559e-02 5.30014271e-02] [ 9.46845649e-02 1.12861229e-02 9.95443347e-01 8.34290237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502557844 meters Centerline goodness : 0.134479 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95501274e-01 3.90144938e-03 -9.46678026e-02 -1.27561623e+01] [-4.96527800e-03 9.99927120e-01 -1.10045391e-02 5.44190129e-02] [ 9.46179696e-02 1.14250846e-02 9.95448094e-01 8.33807677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562557844 meters Centerline goodness : 0.143539 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95532777e-01 4.00677199e-03 -9.43315157e-02 -1.27576800e+01] [-5.05450676e-03 9.99928138e-01 -1.08706311e-02 5.40437930e-02] [ 9.42811807e-02 1.12988688e-02 9.95481489e-01 8.34707860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622557844 meters Centerline goodness : 0.124231 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95561221e-01 4.01873888e-03 -9.40303460e-02 -1.27585358e+01] [-5.07022738e-03 9.99927234e-01 -1.09462036e-02 5.47054766e-02] [ 9.39795139e-02 1.13743710e-02 9.95509153e-01 8.34798198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68255784400003 meters Centerline goodness : 0.138755 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95537979e-01 3.91537641e-03 -9.42804460e-02 -1.27576570e+01] [-4.97196382e-03 9.99927417e-01 -1.09745620e-02 5.37522214e-02] [ 9.42306333e-02 1.13943522e-02 9.95485186e-01 8.34505773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74255784400003 meters Centerline goodness : 0.192225 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.05, Z:0.83 [[ 9.95477196e-01 4.19925378e-03 -9.49079521e-02 -1.27555084e+01] [-5.25950934e-03 9.99926499e-01 -1.09240212e-02 5.48062251e-02] [ 9.48551036e-02 1.13737833e-02 9.95426113e-01 8.33697783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80255784400003 meters Centerline goodness : 0.120460 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.06, Z:0.83 [[ 9.95503338e-01 4.10617577e-03 -9.46374280e-02 -1.27560919e+01] [-5.17952476e-03 9.99924991e-01 -1.10988479e-02 5.53222906e-02] [ 9.45847556e-02 1.15391170e-02 9.95449935e-01 8.33537267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86255784400004 meters Centerline goodness : 0.115536 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.06, Z:0.83 [[ 9.95528550e-01 4.02787003e-03 -9.43752236e-02 -1.27572380e+01] [-5.10498122e-03 9.99924533e-01 -1.11744211e-02 5.52624311e-02] [ 9.43230923e-02 1.16062390e-02 9.95473982e-01 8.34139859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.922557844 meters Centerline goodness : 0.138463 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.06, Z:0.83 [[ 9.95478278e-01 4.02465183e-03 -9.49041601e-02 -1.27552480e+01] [-5.12001793e-03 9.99923032e-01 -1.13011334e-02 5.66678611e-02] [ 9.48513723e-02 1.17359438e-02 9.95422265e-01 8.33324948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.982557844 meters Centerline goodness : 0.140618 with order 1 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.06, Z:0.83 [[ 9.95443896e-01 3.90869127e-03 -9.52689490e-02 -1.27538981e+01] [-5.03777626e-03 9.99919866e-01 -1.16139161e-02 5.85077255e-02] [ 9.52159195e-02 1.20409455e-02 9.95383818e-01 8.32798397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.042557844 meters Centerline goodness : 0.140048 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.06, Z:0.83 [[ 9.95523805e-01 3.79243779e-03 -9.44350083e-02 -1.27564140e+01] [-4.97259714e-03 9.99912419e-01 -1.22648709e-02 6.27183088e-02] [ 9.43802238e-02 1.26795582e-02 9.95455475e-01 8.33210201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.102557844 meters Centerline goodness : 0.141497 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.07, Z:0.83 [[ 9.95548415e-01 3.50686488e-03 -9.41862794e-02 -1.27573424e+01] [-4.75179385e-03 9.99904248e-01 -1.29967099e-02 6.65012691e-02] [ 9.41316832e-02 1.33864077e-02 9.95469754e-01 8.33572299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.162557844 meters Centerline goodness : 0.138863 with order 1 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.07, Z:0.84 [[ 9.95623664e-01 5.61384789e-03 -9.32845343e-02 -1.27614928e+01] [-6.74659452e-03 9.99907239e-01 -1.18319936e-02 7.45526152e-02] [ 9.32094582e-02 1.24095657e-02 9.95569184e-01 8.35252353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.222557844 meters Centerline goodness : 0.118867 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.09, Z:0.84 [[ 9.95623397e-01 -5.52443103e-04 -9.34545148e-02 -1.27464890e+01] [-4.75180088e-04 9.99939678e-01 -1.09733617e-02 8.71985523e-02] [ 9.34549396e-02 1.09697434e-02 9.95563076e-01 8.39107458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.282557844 meters Centerline goodness : 0.239165 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.09, Z:0.84 [[ 9.95606116e-01 -1.15782005e-03 -9.36329121e-02 -1.27459646e+01] [ 8.00040215e-06 9.99924604e-01 -1.22795231e-02 9.37814699e-02] [ 9.36400700e-02 1.22248192e-02 9.95531060e-01 8.38958285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.342557844 meters Centerline goodness : 0.235599 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.10, Z:0.84 [[ 9.95584579e-01 -1.46065500e-03 -9.38574053e-02 -1.27456714e+01] [ 2.50824541e-04 9.99916752e-01 -1.29005948e-02 9.66868178e-02] [ 9.38684352e-02 1.28200915e-02 9.95502065e-01 8.39352016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.402557844 meters Centerline goodness : 0.118247 with order 3 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.10, Z:0.84 [[ 9.95614936e-01 2.54922594e-03 -9.35115040e-02 -1.27472010e+01] [-3.47423359e-03 9.99946623e-01 -9.73044959e-03 1.00711614e-01] [ 9.34817075e-02 1.00126618e-02 9.95570649e-01 8.40111745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.462557844 meters Centerline goodness : 0.124347 with order 2 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.10, Z:0.84 [[ 9.95655458e-01 2.47464993e-03 -9.30810642e-02 -1.27482458e+01] [-3.46264239e-03 9.99939357e-01 -1.04543168e-02 1.04811256e-01] [ 9.30495487e-02 1.07312040e-02 9.95603647e-01 8.39869382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.522557844 meters Centerline goodness : 0.129973 with order 1 Centerline is valid? [False, False] Translation: X:-12.79, Y:0.11, Z:0.84 [[ 9.95286144e-01 4.25327628e-03 -9.68886071e-02 -1.27895483e+01] [-5.13720565e-03 9.99947416e-01 -8.87552206e-03 1.08904189e-01] [ 9.68457622e-02 9.33142083e-03 9.95255657e-01 8.35823156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.582557844 meters Centerline goodness : 0.120727 with order 3 Centerline is valid? [False, False] Translation: X:-12.79, Y:0.11, Z:0.84 [[ 9.95265930e-01 3.79950288e-03 -9.71148395e-02 -1.27885069e+01] [-4.77201870e-03 9.99940751e-01 -9.78377639e-03 1.13012969e-01] [ 9.70719120e-02 1.02008931e-02 9.95225093e-01 8.35121912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.642557844 meters Centerline goodness : 0.139632 with order 1 Centerline is valid? [False, False] Translation: X:-12.79, Y:0.12, Z:0.83 [[ 9.95240743e-01 3.31143777e-03 -9.73904429e-02 -1.27871583e+01] [-4.38974241e-03 9.99931395e-01 -1.08597916e-02 1.19024188e-01] [ 9.73478000e-02 1.12356260e-02 9.95187001e-01 8.34247091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.702557844 meters Centerline goodness : 0.238114 with order 3 Centerline is valid? [False, False] Translation: X:-12.79, Y:0.12, Z:0.83 [[ 9.95248764e-01 2.95084336e-03 -9.73200433e-02 -1.27878294e+01] [-4.08310410e-03 9.99926255e-01 -1.14373003e-02 1.21330093e-01] [ 9.72791168e-02 1.17803268e-02 9.95187418e-01 8.34920240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.762557844 meters Centerline goodness : 0.139074 with order 1 Centerline is valid? [False, False] Translation: X:-12.79, Y:0.13, Z:0.84 [[ 9.95279161e-01 2.82524702e-03 -9.70124176e-02 -1.27893085e+01] [-4.00823356e-03 9.99919946e-01 -1.20014583e-02 1.26511088e-01] [ 9.69707443e-02 1.23336498e-02 9.95210810e-01 8.35617626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.822557844 meters Centerline goodness : 0.085410 with order 1 Centerline is valid? [False, False] Translation: X:-12.79, Y:0.13, Z:0.83 [[ 9.95254063e-01 2.39843009e-03 -9.72810254e-02 -1.27880306e+01] [-3.67011373e-03 9.99910115e-01 -1.28954345e-02 1.30879142e-01] [ 9.72413525e-02 1.31912660e-02 9.95173407e-01 8.34820365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.882557844 meters Centerline goodness : 0.401231 with order 1 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.14, Z:0.83 [[ 9.95046446e-01 -4.30281152e-03 -9.93179504e-02 -1.28101552e+01] [ 3.25251736e-03 9.99937093e-01 -1.07345651e-02 1.38254557e-01] [ 9.93578914e-02 1.03583575e-02 9.94997846e-01 8.33759898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.942557844 meters Centerline goodness : 0.145988 with order 1 Centerline is valid? [False, False] Translation: X:-12.81, Y:0.14, Z:0.84 [[ 9.95090890e-01 -4.46690479e-03 -9.88643916e-02 -1.28122148e+01] [ 3.40540048e-03 9.99934760e-01 -1.09031205e-02 1.39244917e-01] [ 9.89066450e-02 1.05129231e-02 9.95041182e-01 8.35006316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002557844 meters Centerline goodness : 0.232929 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.14, Z:0.84 [[ 9.95214764e-01 -5.90786614e-03 -9.75329215e-02 -1.28168399e+01] [ 4.77332258e-03 9.99918255e-01 -1.18616573e-02 1.40014315e-01] [ 9.75950257e-02 1.13393404e-02 9.95161610e-01 8.36545637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062557844 meters Centerline goodness : 0.139226 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.14, Z:0.84 [[ 9.95241328e-01 -6.05857787e-03 -9.72522165e-02 -1.28174698e+01] [ 4.93387143e-03 9.99918191e-01 -1.18011652e-02 1.39582384e-01] [ 9.73157587e-02 1.12651774e-02 9.95189800e-01 8.36483818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122557844 meters Centerline goodness : 0.141626 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.14, Z:0.84 [[ 9.95378174e-01 -1.02216027e-02 -9.54872198e-02 -1.28243004e+01] [ 8.83486039e-03 9.99849444e-01 -1.49343184e-02 1.36086631e-01] [ 9.56254964e-02 1.40216784e-02 9.95318621e-01 8.39197978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18255784400003 meters Centerline goodness : 0.141310 with order 1 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.13, Z:0.84 [[ 9.95399742e-01 -1.08101870e-02 -9.51971279e-02 -1.28254208e+01] [ 9.46803708e-03 9.99849474e-01 -1.45390740e-02 1.31743741e-01] [ 9.53399684e-02 1.35708606e-02 9.95352260e-01 8.39831164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24255784400003 meters Centerline goodness : 0.144708 with order 1 Centerline is valid? [False, False] Translation: X:-12.83, Y:0.12, Z:0.84 [[ 0.99540686 -0.01503062 -0.09454763 -12.8264836 ] [ 0.01345693 0.99976047 -0.01726009 0.12336262] [ 0.09478441 0.01590849 0.9953707 0.83938345] [ 0. 0. 0. 1. ]] SLAMing on 339.30255784400003 meters Centerline goodness : 0.137572 with order 1 Centerline is valid? [False, False] Translation: X:-12.85, Y:0.11, Z:0.84 [[ 9.95593500e-01 -8.32805654e-03 -9.34035632e-02 -1.28452409e+01] [ 6.66755079e-03 9.99814388e-01 -1.80757613e-02 1.12344907e-01] [ 9.35367623e-02 1.73733375e-02 9.95464234e-01 8.35590976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36255784400004 meters Centerline goodness : 0.119651 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.11, Z:0.83 [[ 9.95486505e-01 -8.28269084e-03 -9.45410743e-02 -1.28413338e+01] [ 6.65904963e-03 9.99825099e-01 -1.74765112e-02 1.07036362e-01] [ 9.46692915e-02 1.67680774e-02 9.95367549e-01 8.34460510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.422557844 meters Centerline goodness : 0.139849 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.10, Z:0.83 [[ 9.95272670e-01 -1.87675405e-04 -9.71199147e-02 -1.28594639e+01] [-1.56379276e-03 9.99837526e-01 -1.79576467e-02 9.97380741e-02] [ 9.71075054e-02 1.80246303e-02 9.95110670e-01 8.30737758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.482557844 meters Centerline goodness : 0.125124 with order 3 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.10, Z:0.83 [[ 9.95192948e-01 -5.53317820e-04 -9.79320663e-02 -1.28571928e+01] [-1.19683973e-03 9.99840646e-01 -1.78114909e-02 9.68304665e-02] [ 9.79263159e-02 1.78430791e-02 9.95033699e-01 8.30462361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.542557844 meters Centerline goodness : 0.396450 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.09, Z:0.83 [[ 9.95275158e-01 -2.98014045e-03 -9.70488454e-02 -1.28611861e+01] [ 1.11438359e-03 9.99813629e-01 -1.92734568e-02 9.16857576e-02] [ 9.70881959e-02 1.90742432e-02 9.95092988e-01 8.31525922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.602557844 meters Centerline goodness : 0.397177 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.09, Z:0.83 [[ 9.95204339e-01 -7.10238569e-03 -9.75596204e-02 -1.28591864e+01] [ 4.96089336e-03 9.99741781e-01 -2.21756616e-02 8.70463022e-02] [ 9.76919288e-02 2.15853318e-02 9.94982593e-01 8.30173007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.662557844 meters Centerline goodness : 0.128242 with order 3 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.08, Z:0.83 [[ 9.95163257e-01 -7.21707742e-03 -9.79694074e-02 -1.28578416e+01] [ 5.12877367e-03 9.99754595e-01 -2.15510051e-02 8.39698868e-02] [ 9.81009005e-02 2.09443055e-02 9.94956054e-01 8.29321504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.722557844 meters Centerline goodness : 0.259398 with order 2 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.08, Z:0.83 [[ 9.95226676e-01 -1.06358627e-02 -9.70089753e-02 -1.28613083e+01] [ 8.38945708e-03 9.99687806e-01 -2.35352532e-02 7.65945943e-02] [ 9.72290074e-02 2.26090592e-02 9.95005201e-01 8.29656485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.782557844 meters Centerline goodness : 0.237458 with order 1 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.06, Z:0.83 [[ 9.95311166e-01 -3.96555783e-03 -9.66434509e-02 -1.28803849e+01] [ 1.56036499e-03 9.99687478e-01 -2.49501626e-02 6.43473152e-02] [ 9.67121890e-02 2.46823764e-02 9.95006298e-01 8.25876529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.842557844 meters Centerline goodness : 0.282345 with order 3 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.06, Z:0.83 [[ 9.95334948e-01 -1.17676827e-02 -9.57593971e-02 -1.28592832e+01] [ 9.57292060e-03 9.99681593e-01 -2.33467777e-02 6.41837758e-02] [ 9.60036441e-02 2.23211666e-02 9.95130678e-01 8.28319295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.902557844 meters Centerline goodness : 0.227861 with order 3 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.05, Z:0.83 [[ 9.95876113e-01 3.45767442e-04 -9.07229181e-02 -1.28592614e+01] [-2.55224637e-03 9.99703729e-01 -2.42061900e-02 5.33831011e-02] [ 9.06876698e-02 2.43379136e-02 9.95581947e-01 8.27485995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.962557844 meters Centerline goodness : 0.178958 with order 3 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.05, Z:0.83 [[ 9.95878383e-01 4.60795329e-03 -9.05815308e-02 -1.28598199e+01] [-6.44967411e-03 9.99778175e-01 -2.00500021e-02 5.12858693e-02] [ 9.04690481e-02 2.05515851e-02 9.95687192e-01 8.27647903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.022557844 meters Centerline goodness : 0.125085 with order 3 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.05, Z:0.83 [[ 9.95805089e-01 8.59055430e-03 -9.10957084e-02 -1.28580899e+01] [-1.01286964e-02 9.99813615e-01 -1.64360575e-02 5.08981623e-02] [ 9.09375347e-02 1.72897904e-02 9.95706497e-01 8.27232041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.082557844 meters Centerline goodness : 0.184469 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.06, Z:0.83 [[ 9.96009343e-01 1.13611317e-03 -8.92417933e-02 -1.28397120e+01] [-2.52226527e-03 9.99877903e-01 -1.54213096e-02 5.57337673e-02] [ 8.92133769e-02 1.55848599e-02 9.95890599e-01 8.30503765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.142557844 meters Centerline goodness : 0.197425 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.06, Z:0.83 [[ 9.96012820e-01 1.11491401e-03 -8.92032481e-02 -1.28397782e+01] [-2.50123129e-03 9.99877809e-01 -1.54308355e-02 5.60001960e-02] [ 8.91751442e-02 1.55924279e-02 9.95893905e-01 8.30396107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.202557844 meters Centerline goodness : 0.287101 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.06, Z:0.83 [[ 9.96045481e-01 -6.70598032e-03 -8.85913625e-02 -1.28199125e+01] [ 5.45660892e-03 9.99882327e-01 -1.43372956e-02 6.11717110e-02] [ 8.86770833e-02 1.37971900e-02 9.95964865e-01 8.33755664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.262557844 meters Centerline goodness : 0.274640 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.06, Z:0.83 [[ 9.96073055e-01 -6.77575050e-03 -8.82754734e-02 -1.28207825e+01] [ 5.54936828e-03 9.99884757e-01 -1.41306910e-02 6.04086982e-02] [ 8.83610464e-02 1.35853274e-02 9.95995866e-01 8.33451892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.322557844 meters Centerline goodness : 0.195988 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.06, Z:0.83 [[ 9.96020981e-01 -7.19715891e-03 -8.88279569e-02 -1.28198680e+01] [ 5.95621347e-03 9.99881046e-01 -1.42273810e-02 5.98839830e-02] [ 8.89197871e-02 1.36416917e-02 9.95945368e-01 8.33623624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.382557844 meters Centerline goodness : 0.183944 with order 2 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.06, Z:0.83 [[ 9.96012688e-01 -7.01629197e-03 -8.89353489e-02 -1.28193645e+01] [ 5.80193448e-03 9.99886480e-01 -1.39055521e-02 5.91545066e-02] [ 8.90228183e-02 1.33341093e-02 9.95940329e-01 8.33098250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.442557844 meters Centerline goodness : 0.423209 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.06, Z:0.83 [[ 9.96103178e-01 -5.11834835e-03 -8.80469239e-02 -1.28234596e+01] [ 4.03928956e-03 9.99914595e-01 -1.24293046e-02 6.40902263e-02] [ 8.81030217e-02 1.20252228e-02 9.96038780e-01 8.34817967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502557844 meters Centerline goodness : 0.162945 with order 2 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.07, Z:0.83 [[ 9.96113647e-01 -1.12901277e-03 -8.80700135e-02 -1.28234674e+01] [ 3.32074133e-04 9.99958875e-01 -9.06304804e-03 6.74866915e-02] [ 8.80766238e-02 8.99858006e-03 9.96073057e-01 8.34861879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562557844 meters Centerline goodness : 0.185480 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.07, Z:0.83 [[ 9.96166300e-01 2.37962892e-03 -8.74473537e-02 -1.28248459e+01] [-2.95200936e-03 9.99975056e-01 -6.41669147e-03 7.33739753e-02] [ 8.74299030e-02 6.65023721e-03 9.96148476e-01 8.34905727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622557844 meters Centerline goodness : 0.375161 with order 1 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.08, Z:0.83 [[ 9.96091896e-01 1.74124788e-03 -8.83057327e-02 -1.28216581e+01] [-2.38936308e-03 9.99970978e-01 -7.23427388e-03 7.70436505e-02] [ 8.82905732e-02 7.41699604e-03 9.96067148e-01 8.33584343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68255784400003 meters Centerline goodness : 0.395962 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.09, Z:0.84 [[ 9.96106148e-01 -6.44530002e-03 -8.79261078e-02 -1.28028407e+01] [ 5.91317312e-03 9.99962601e-01 -6.31110473e-03 8.59015055e-02] [ 8.79634965e-02 5.76660793e-03 9.96107007e-01 8.37161905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74255784400003 meters Centerline goodness : 0.250049 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.09, Z:0.84 [[ 9.96119558e-01 -7.20811455e-03 -8.77147056e-02 -1.28035894e+01] [ 6.64461340e-03 9.99955381e-01 -6.71453624e-03 8.64409152e-02] [ 8.77591910e-02 6.10565057e-03 9.96123007e-01 8.37428197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80255784400003 meters Centerline goodness : 0.217822 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.09, Z:0.83 [[ 9.95755009e-01 -1.00071684e-02 -9.14976403e-02 -1.28408876e+01] [ 9.30068724e-03 9.99923580e-01 -8.14444785e-03 8.78713200e-02] [ 9.15721509e-02 7.25888380e-03 9.95771987e-01 8.31700817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86255784400004 meters Centerline goodness : 0.253611 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.09, Z:0.83 [[ 9.95770062e-01 -1.01916392e-02 -9.13132755e-02 -1.28417600e+01] [ 9.46694724e-03 9.99920191e-01 -8.36595954e-03 8.88966771e-02] [ 9.13912507e-02 7.46611409e-03 9.95787074e-01 8.32258216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.922557844 meters Centerline goodness : 0.174952 with order 1 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.09, Z:0.83 [[ 9.95725684e-01 -6.78631516e-03 -9.21103048e-02 -1.28392091e+01] [ 6.30770023e-03 9.99965056e-01 -5.48623622e-03 9.19163707e-02] [ 9.21443175e-02 4.88178212e-03 9.95733696e-01 8.31588986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.982557844 meters Centerline goodness : 0.108105 with order 2 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.09, Z:0.83 [[ 9.95732483e-01 -2.83957567e-03 -9.22429366e-02 -1.28388021e+01] [ 2.65215559e-03 9.99994162e-01 -2.15432884e-03 9.42770430e-02] [ 9.22485155e-02 1.90049259e-03 9.95734201e-01 8.31419414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.042557844 meters Centerline goodness : 0.383934 with order 1 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.10, Z:0.83 [[ 9.95607638e-01 -1.76258321e-03 -9.36072854e-02 -1.28882799e+01] [ 1.58629736e-03 9.99996826e-01 -1.95762377e-03 1.01871707e-01] [ 9.36104387e-02 1.80053619e-03 9.95607274e-01 8.30404926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.102557844 meters Centerline goodness : 0.147739 with order 1 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.11, Z:0.83 [[ 9.95572964e-01 1.54605013e-03 -9.39791653e-02 -1.28865707e+01] [-1.49457663e-03 9.99998692e-01 6.18094630e-04 1.07106787e-01] [ 9.39799980e-02 -4.74899239e-04 9.95573972e-01 8.29609164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.162557844 meters Centerline goodness : 0.151427 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.12, Z:0.83 [[ 9.95568261e-01 -6.03449969e-03 -9.38478665e-02 -1.29049922e+01] [ 6.22210877e-03 9.99979186e-01 1.70659097e-03 1.20125315e-01] [ 9.38356148e-02 -2.28295944e-03 9.95585087e-01 8.25949276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.222557844 meters Centerline goodness : 0.153004 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.12, Z:0.83 [[ 9.95558117e-01 -6.42464835e-03 -9.39295447e-02 -1.29045046e+01] [ 6.56262937e-03 9.99977793e-01 1.16015955e-03 1.22407366e-01] [ 9.39200051e-02 -1.77143105e-03 9.95578171e-01 8.25572508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.282557844 meters Centerline goodness : 0.266843 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:0.13, Z:0.82 [[ 9.95265403e-01 -7.38802199e-03 -9.69133342e-02 -1.29486789e+01] [ 7.43639427e-03 9.99972340e-01 1.37940722e-04 1.29966078e-01] [ 9.69096345e-02 -8.57973391e-04 9.95292815e-01 8.22378036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.342557844 meters Centerline goodness : 0.131193 with order 2 Centerline is valid? [False, False] Translation: X:-12.95, Y:0.14, Z:0.82 [[ 9.95394962e-01 -5.06711657e-03 -9.57245760e-02 -1.29538137e+01] [ 5.26668866e-03 9.99984452e-01 1.83231499e-03 1.35274789e-01] [ 9.57138031e-02 -2.32802865e-03 9.95406172e-01 8.24335635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.402557844 meters Centerline goodness : 0.390629 with order 1 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.15, Z:0.83 [[ 9.95516730e-01 -3.19136435e-03 -9.45317699e-02 -1.29588525e+01] [ 3.43921920e-03 9.99991062e-01 2.45911421e-03 1.45716512e-01] [ 9.45230771e-02 -2.77320481e-03 9.95518808e-01 8.26282651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.462557844 meters Centerline goodness : 0.421143 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.16, Z:0.83 [[ 9.95525771e-01 1.98358240e-04 -9.44902125e-02 -1.29587402e+01] [ 2.26168442e-04 9.99989930e-01 4.48208067e-03 1.56107290e-01] [ 9.44901500e-02 -4.48339752e-03 9.95515701e-01 8.26054221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.522557844 meters Centerline goodness : 0.149977 with order 1 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.17, Z:0.82 [[ 9.95375803e-01 6.10338847e-04 -9.60553969e-02 -1.30062769e+01] [-2.47038536e-04 9.99992772e-01 3.79404246e-03 1.67371653e-01] [ 9.60570183e-02 -3.75276867e-03 9.95368759e-01 8.23699786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.582557844 meters Centerline goodness : 0.417400 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.17, Z:0.82 [[ 9.95359876e-01 2.28705025e-05 -9.62222286e-02 -1.30055339e+01] [ 2.35278749e-04 9.99996404e-01 2.67149754e-03 1.73757138e-01] [ 9.62219436e-02 -2.68174051e-03 9.95356291e-01 8.23387924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.642557844 meters Centerline goodness : 0.379828 with order 1 Centerline is valid? [False, False] Translation: X:-13.00, Y:0.18, Z:0.82 [[ 9.95236642e-01 -9.48274002e-04 -9.74839834e-02 -1.30012680e+01] [ 1.08149747e-03 9.99998552e-01 1.31378791e-03 1.80140258e-01] [ 9.74825964e-02 -1.41295854e-03 9.95236227e-01 8.22212158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.702557844 meters Centerline goodness : 0.160286 with order 1 Centerline is valid? [False, False] Translation: X:-13.00, Y:0.18, Z:0.82 [[ 9.95242027e-01 -1.45543364e-03 -9.74227386e-02 -1.30016487e+01] [ 1.53752473e-03 9.99998523e-01 7.67559371e-04 1.82171060e-01] [ 9.74214776e-02 -9.13697214e-04 9.95242795e-01 8.22470430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.762557844 meters Centerline goodness : 0.127468 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.19, Z:0.82 [[ 9.95005087e-01 -1.96065172e-03 -9.98049714e-02 -1.30484771e+01] [ 2.00810056e-03 9.99997913e-01 3.74957678e-04 1.87391913e-01] [ 9.98040280e-02 -5.73503216e-04 9.95006948e-01 8.20269132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.822557844 meters Centerline goodness : 0.134212 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.19, Z:0.82 [[ 9.94987862e-01 -2.28137035e-03 -9.99697416e-02 -1.30477440e+01] [ 2.28517040e-03 9.99997386e-01 -7.64989101e-05 1.89569057e-01] [ 9.99696548e-02 -1.52332407e-04 9.94990475e-01 8.19895813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.882557844 meters Centerline goodness : 0.132980 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.19, Z:0.82 [[ 9.95022821e-01 -2.69786602e-03 -9.96107820e-02 -1.30488649e+01] [ 2.62557680e-03 9.99996186e-01 -8.56803824e-04 1.93402352e-01] [ 9.96127136e-02 5.91003599e-04 9.95026109e-01 8.20212589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.942557844 meters Centerline goodness : 0.133587 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.20, Z:0.82 [[ 9.95060180e-01 -2.96728519e-03 -9.92292008e-02 -1.30505222e+01] [ 2.84108859e-03 9.99994966e-01 -1.41305312e-03 1.96088643e-01] [ 9.92328942e-02 1.12415394e-03 9.95063600e-01 8.21174397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.002557844 meters Centerline goodness : 0.129366 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.19, Z:0.82 [[ 9.95184734e-01 4.46811567e-03 -9.79151769e-02 -1.30312488e+01] [-4.78219022e-03 9.99984145e-01 -2.97316392e-03 1.93920233e-01] [ 9.79003400e-02 3.42709634e-03 9.95190323e-01 8.23653261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062557844 meters Centerline goodness : 0.126531 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.20, Z:0.82 [[ 9.95183758e-01 -2.88019663e-03 -9.79846489e-02 -1.30492524e+01] [ 2.70387767e-03 9.99994478e-01 -1.93219638e-03 2.03453622e-01] [ 9.79896729e-02 1.65795195e-03 9.95186051e-01 8.19838319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122557844 meters Centerline goodness : 0.127144 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.21, Z:0.82 [[ 9.95218401e-01 -3.05214747e-03 -9.76269341e-02 -1.30505089e+01] [ 2.83963408e-03 9.99993287e-01 -2.31566108e-03 2.05343917e-01] [ 9.76333465e-02 2.02736375e-03 9.95220387e-01 8.20330218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18255784400003 meters Centerline goodness : 0.193026 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.21, Z:0.82 [[ 9.95199872e-01 -3.44756338e-03 -9.78025014e-02 -1.30497173e+01] [ 3.15129331e-03 9.99989967e-01 -3.18358001e-03 2.09588647e-01] [ 9.78124957e-02 2.86009405e-03 9.95200751e-01 8.19966884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24255784400003 meters Centerline goodness : 0.125548 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.21, Z:0.82 [[ 9.95200751e-01 -3.72236951e-03 -9.77834806e-02 -1.30496000e+01] [ 3.34193324e-03 9.99986198e-01 -4.05409645e-03 2.14300536e-01] [ 9.77972218e-02 3.70785397e-03 9.95199455e-01 8.19872903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30255784400003 meters Centerline goodness : 0.131319 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.22, Z:0.82 [[ 9.95174882e-01 -4.09981727e-03 -9.80313506e-02 -1.30488963e+01] [ 3.62365714e-03 9.99980760e-01 -5.03477530e-03 2.19255291e-01] [ 9.80501061e-02 4.65524992e-03 9.95170591e-01 8.19886506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36255784400004 meters Centerline goodness : 0.130797 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.22, Z:0.82 [[ 9.95145464e-01 -4.22167491e-04 -9.84140633e-02 -1.30474699e+01] [ 2.36338575e-04 9.99998167e-01 -1.89988555e-03 2.23201974e-01] [ 9.84146850e-02 1.86740344e-03 9.95143740e-01 8.19245715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.422557844 meters Centerline goodness : 0.130838 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.23, Z:0.82 [[ 9.95172491e-01 -9.13354861e-04 -9.81370387e-02 -1.30482939e+01] [ 6.68728186e-04 9.99996587e-01 -2.52556886e-03 2.25415120e-01] [ 9.81390106e-02 2.44774965e-03 9.95169706e-01 8.19395399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.482557844 meters Centerline goodness : 0.131122 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.23, Z:0.82 [[ 9.94933784e-01 -6.75558992e-03 -1.00305170e-01 -1.30681304e+01] [ 6.83919021e-03 9.99976493e-01 4.89608670e-04 2.33914455e-01] [ 1.00299504e-01 -1.17313434e-03 9.94956599e-01 8.17503306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.542557844 meters Centerline goodness : 0.127371 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.24, Z:0.82 [[ 9.94870465e-01 -7.10219188e-03 -1.00907462e-01 -1.30659242e+01] [ 7.15306627e-03 9.99974406e-01 1.42350768e-04 2.35168500e-01] [ 1.00903868e-01 -8.63418334e-04 9.94895806e-01 8.16606460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.602557844 meters Centerline goodness : 0.131381 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.24, Z:0.82 [[ 9.95023522e-01 -4.24827811e-03 -9.95497008e-02 -1.30704721e+01] [ 4.52335896e-03 9.99986550e-01 2.53770323e-03 2.38506065e-01] [ 9.95375810e-02 -2.97537344e-03 9.95029355e-01 8.17445899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.662557844 meters Centerline goodness : 0.226423 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.24, Z:0.82 [[ 9.95153167e-01 -2.36708359e-03 -9.83085522e-02 -1.30751744e+01] [ 2.74948701e-03 9.99989172e-01 3.75453342e-03 2.42695926e-01] [ 9.82986004e-02 -4.00663391e-03 9.95148899e-01 8.18806335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.722557844 meters Centerline goodness : 0.125986 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.25, Z:0.82 [[ 9.95182689e-01 1.53815697e-03 -9.80257550e-02 -1.30765869e+01] [-8.76491112e-04 9.99976546e-01 6.79262414e-03 2.46648261e-01] [ 9.80339040e-02 -6.67398326e-03 9.95160696e-01 8.19597008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.782557844 meters Centerline goodness : 0.132472 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.25, Z:0.82 [[ 9.95208137e-01 5.26014865e-03 -9.76375711e-02 -1.30767009e+01] [-4.35922419e-03 9.99945957e-01 9.43826205e-03 2.52594353e-01] [ 9.76819411e-02 -8.96741113e-03 9.95177283e-01 8.18700000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.842557844 meters Centerline goodness : 0.142187 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.26, Z:0.82 [[ 9.95199004e-01 4.78426956e-03 -9.77550651e-02 -1.30768635e+01] [-3.97450057e-03 9.99956173e-01 8.47670517e-03 2.57161855e-01] [ 9.77913357e-02 -8.04748099e-03 9.95174403e-01 8.19341109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.902557844 meters Centerline goodness : 0.140391 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.26, Z:0.82 [[ 9.95188493e-01 4.56967778e-03 -9.78722713e-02 -1.30764013e+01] [-3.77716803e-03 9.99958577e-01 8.28114360e-03 2.57910385e-01] [ 9.79060592e-02 -7.87161880e-03 9.95164530e-01 8.19108510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.962557844 meters Centerline goodness : 0.134778 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.26, Z:0.82 [[ 9.95207205e-01 2.23886038e-04 -9.77883891e-02 -1.30768685e+01] [ 1.96032070e-04 9.99990802e-01 4.28452203e-03 2.58430702e-01] [ 9.77884489e-02 -4.28315685e-03 9.95198007e-01 8.19413116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.022557844 meters Centerline goodness : 0.139781 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.26, Z:0.82 [[ 9.95257216e-01 2.04390427e-04 -9.72781191e-02 -1.30789791e+01] [ 2.26786149e-04 9.99990200e-01 4.42133318e-03 2.57460132e-01] [ 9.72780694e-02 -4.42242508e-03 9.95247416e-01 8.20450517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.082557844 meters Centerline goodness : 0.128807 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.26, Z:0.82 [[ 9.95275704e-01 9.83247982e-05 -9.70889476e-02 -1.30796942e+01] [ 2.94269476e-04 9.99991839e-01 4.02932842e-03 2.59478228e-01] [ 9.70885514e-02 -4.03886299e-03 9.95267552e-01 8.20829745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.142557844 meters Centerline goodness : 0.136993 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.27, Z:0.82 [[ 9.95271896e-01 3.14110256e-03 -9.70772186e-02 -1.30774367e+01] [-2.55941438e-03 9.99978022e-01 6.11595927e-03 2.65070937e-01] [ 9.70942959e-02 -5.83858155e-03 9.95258061e-01 8.18660862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.202557844 meters Centerline goodness : 0.124896 with order 2 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.27, Z:0.82 [[ 9.95209584e-01 2.97775072e-03 -9.77190700e-02 -1.30755461e+01] [-2.45876453e-03 9.99982229e-01 5.43099499e-03 2.69223640e-01] [ 9.77335056e-02 -5.16471008e-03 9.95199220e-01 8.18400026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.262557844 meters Centerline goodness : 0.127821 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.27, Z:0.82 [[ 9.95193996e-01 2.59912813e-03 -9.78884858e-02 -1.30753624e+01] [-2.15321794e-03 9.99986821e-01 4.66065345e-03 2.72922152e-01] [ 9.78993093e-02 -4.42747908e-03 9.95186476e-01 8.18787435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.322557844 meters Centerline goodness : 0.138904 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.28, Z:0.82 [[ 9.95232027e-01 2.16030804e-03 -9.75117732e-02 -1.30766474e+01] [-1.80071144e-03 9.99991251e-01 3.77557936e-03 2.77813835e-01] [ 9.75190765e-02 -3.58198693e-03 9.95227210e-01 8.19229652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.382557844 meters Centerline goodness : 0.134691 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.28, Z:0.82 [[ 9.95234731e-01 1.81054857e-03 -9.74912944e-02 -1.30764019e+01] [-1.49341099e-03 9.99993354e-01 3.32585645e-03 2.79524422e-01] [ 9.74966681e-02 -3.16441328e-03 9.95230821e-01 8.18804688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.442557844 meters Centerline goodness : 0.136996 with order 1 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.29, Z:0.82 [[ 9.94982314e-01 -6.88938368e-03 -9.98134821e-02 -1.30948950e+01] [ 7.29266230e-03 9.99966651e-01 3.67601723e-03 2.86540805e-01] [ 9.97848280e-02 -4.38547815e-03 9.94999375e-01 8.15729640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502557844 meters Centerline goodness : 0.130844 with order 3 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.29, Z:0.82 [[ 9.94977289e-01 -7.11887745e-03 -9.98474652e-02 -1.30945433e+01] [ 7.48728338e-03 9.99966474e-01 3.31543856e-03 2.88240940e-01] [ 9.98205155e-02 -4.04637234e-03 9.94997232e-01 8.15375010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562557844 meters Centerline goodness : 0.143403 with order 1 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.29, Z:0.82 [[ 9.95015038e-01 -3.32700630e-03 -9.96694781e-02 -1.30952310e+01] [ 3.95158320e-03 9.99973771e-01 6.06971845e-03 2.94123016e-01] [ 9.96466699e-02 -6.43331337e-03 9.95002087e-01 8.15693785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622557844 meters Centerline goodness : 0.135371 with order 1 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.30, Z:0.82 [[ 9.95073429e-01 5.02088335e-04 -9.91393886e-02 -1.30966712e+01] [ 3.87529292e-04 9.99959838e-01 8.95394135e-03 2.99034977e-01] [ 9.91399026e-02 -8.94824854e-03 9.95033270e-01 8.15796181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68255784400003 meters Centerline goodness : 0.136577 with order 1 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.30, Z:0.82 [[ 9.95094958e-01 2.13416411e-04 -9.89241115e-02 -1.30974072e+01] [ 6.07118765e-04 9.99965665e-01 8.26441495e-03 3.02546003e-01] [ 9.89224787e-02 -8.28393633e-03 9.95060661e-01 8.16061767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74255784400003 meters Centerline goodness : 0.141895 with order 1 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.31, Z:0.82 [[ 9.95058738e-01 -3.88456530e-04 -9.92872412e-02 -1.30961639e+01] [ 1.08179475e-03 9.99975406e-01 6.92941345e-03 3.10818495e-01] [ 9.92821075e-02 -7.00258182e-03 9.95034686e-01 8.15784170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80255784400003 meters Centerline goodness : 0.124903 with order 3 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.31, Z:0.82 [[ 9.95030274e-01 -7.46961269e-04 -9.95700519e-02 -1.30954629e+01] [ 1.37117605e-03 9.99979835e-01 6.20081501e-03 3.14549538e-01] [ 9.95634123e-02 -6.30652673e-03 9.95011233e-01 8.15890454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86255784400004 meters Centerline goodness : 0.127280 with order 3 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.32, Z:0.82 [[ 9.95072580e-01 2.88957533e-03 -9.91070658e-02 -1.30963232e+01] [-2.02246842e-03 9.99958806e-01 8.84854604e-03 3.20516553e-01] [ 9.91285516e-02 -8.60450463e-03 9.95037433e-01 8.15620101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.922557844 meters Centerline goodness : 0.153044 with order 1 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.32, Z:0.82 [[ 9.95081003e-01 6.71810731e-03 -9.88365576e-02 -1.30965817e+01] [-5.57327542e-03 9.99914200e-01 1.18546258e-02 3.24677744e-01] [ 9.89077181e-02 -1.12454696e-02 9.95033066e-01 8.15198974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.982557844 meters Centerline goodness : 0.150102 with order 1 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.33, Z:0.82 [[ 9.95112023e-01 7.45667975e-03 -9.84706012e-02 -1.30978687e+01] [-6.33478666e-03 9.99911475e-01 1.17009266e-02 3.32803582e-01] [ 9.85491342e-02 -1.10199425e-02 9.95071168e-01 8.15766945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.042557844 meters Centerline goodness : 0.146786 with order 1 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.34, Z:0.82 [[ 9.95076373e-01 1.11961333e-02 -9.84766930e-02 -1.30977574e+01] [-9.85160640e-03 9.99851648e-01 1.41289431e-02 3.40444467e-01] [ 9.86202734e-02 -1.30892238e-02 9.95039051e-01 8.15778883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.102557844 meters Centerline goodness : 0.162517 with order 3 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.35, Z:0.82 [[ 0.99509005 0.01509464 -0.09781584 -13.09963966] [ -0.01358528 0.99977844 0.01607835 0.34885865] [ 0.09803686 -0.01467055 0.99507464 0.8152191 ] [ 0. 0. 0. 1. ]] SLAMing on 344.162557844 meters Centerline goodness : 0.127062 with order 3 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.35, Z:0.82 [[ 0.9951463 0.01542525 -0.09719008 -13.10217017] [ -0.0140334 0.99978919 0.01498823 0.35450054] [ 0.09740079 -0.01355157 0.99515297 0.81520005] [ 0. 0. 0. 1. ]] SLAMing on 344.222557844 meters Centerline goodness : 0.150009 with order 3 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.36, Z:0.81 [[ 0.99516227 0.01937511 -0.0963154 -13.10407306] [ -0.01782074 0.99969713 0.01697251 0.36202058] [ 0.09661508 -0.01517399 0.99520615 0.81377677] [ 0. 0. 0. 1. ]] SLAMing on 344.282557844 meters Centerline goodness : 0.196091 with order 3 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.37, Z:0.81 [[ 0.99516209 0.019054 -0.09638129 -13.10356442] [ -0.0176332 0.99972326 0.01557186 0.36671479] [ 0.09665132 -0.01379701 0.99522267 0.81232094] [ 0. 0. 0. 1. ]] SLAMing on 344.342557844 meters Centerline goodness : 0.134394 with order 3 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.37, Z:0.81 [[ 0.99509484 0.01924981 -0.09703451 -13.10209087] [ -0.01788069 0.99972821 0.01495952 0.36991694] [ 0.09729611 -0.0131511 0.99516859 0.81179862] [ 0. 0. 0. 1. ]] SLAMing on 344.402557844 meters Centerline goodness : 0.196164 with order 3 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.38, Z:0.81 [[ 9.95425007e-01 1.36580240e-02 -9.45648672e-02 -1.31196788e+01] [-1.21718402e-02 9.99793463e-01 1.62750611e-02 3.81905954e-01] [ 9.47676212e-02 -1.50495744e-02 9.95385658e-01 8.07873663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.462557844 meters Centerline goodness : 0.129820 with order 3 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.38, Z:0.81 [[ 9.95430216e-01 1.35140049e-02 -9.45307161e-02 -1.31192658e+01] [-1.21054849e-02 9.99807239e-01 1.54577751e-02 3.84477555e-01] [ 9.47213907e-02 -1.42427962e-02 9.95401929e-01 8.06475660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.522557844 meters Centerline goodness : 0.199284 with order 3 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.39, Z:0.80 [[ 9.95100907e-01 1.35355362e-02 -9.79335217e-02 -1.31498697e+01] [-1.19976711e-02 9.99795568e-01 1.62750789e-02 3.86383304e-01] [ 9.81337929e-02 -1.50203716e-02 9.95059871e-01 8.01452961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.582557844 meters Centerline goodness : 0.141960 with order 3 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.39, Z:0.80 [[ 9.95188355e-01 5.74145541e-03 -9.78119276e-02 -1.31331317e+01] [-4.06557181e-03 9.99841655e-01 1.73244367e-02 3.90659267e-01] [ 9.78959071e-02 -1.68434162e-02 9.95054114e-01 8.04022614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.642557844 meters Centerline goodness : 0.172163 with order 3 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.39, Z:0.80 [[ 9.95210201e-01 5.97544089e-03 -9.75753597e-02 -1.31336923e+01] [-4.25610590e-03 9.99832166e-01 1.78192323e-02 3.88144694e-01] [ 9.76654610e-02 -1.73185907e-02 9.95068603e-01 8.03906320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.702557844 meters Centerline goodness : 0.193486 with order 3 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.38, Z:0.80 [[ 9.95165722e-01 3.86380488e-03 -9.81338668e-02 -1.31302023e+01] [-2.26840064e-03 9.99863531e-01 1.63638006e-02 3.81594010e-01] [ 9.81837011e-02 -1.60620866e-02 9.95038678e-01 8.01921843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.762557844 meters Centerline goodness : 0.182512 with order 3 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.38, Z:0.80 [[ 9.95149210e-01 4.30933435e-03 -9.82826539e-02 -1.31296792e+01] [-2.64337822e-03 9.99850724e-01 1.70745829e-02 3.78753510e-01] [ 9.83415628e-02 -1.67319595e-02 9.95012049e-01 8.01736814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.822557844 meters Centerline goodness : 0.228051 with order 3 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.37, Z:0.80 [[ 9.95162984e-01 1.32796041e-03 -9.82286682e-02 -1.31299503e+01] [ 1.14780409e-04 9.99892230e-01 1.46804648e-02 3.72861419e-01] [ 9.82375771e-02 -1.46207299e-02 9.95055583e-01 8.01876659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.882557844 meters Centerline goodness : 0.130584 with order 3 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.37, Z:0.80 [[ 9.95184873e-01 1.84751521e-03 -9.79982412e-02 -1.31304427e+01] [-3.26958470e-04 9.99879350e-01 1.55299540e-02 3.69206058e-01] [ 9.80151095e-02 -1.54231340e-02 9.95065408e-01 8.01657067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.942557844 meters Centerline goodness : 0.249891 with order 3 Centerline is valid? [False, False] Translation: X:-13.11, Y:0.36, Z:0.80 [[ 9.95468762e-01 9.03125048e-03 -9.46592814e-02 -1.31129152e+01] [-7.67718709e-03 9.99863077e-01 1.46590376e-02 3.60504481e-01] [ 9.47787098e-02 -1.38658970e-02 9.95401795e-01 8.04640845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002557844 meters Centerline goodness : 0.126834 with order 3 Centerline is valid? [False, False] Translation: X:-13.11, Y:0.35, Z:0.81 [[ 9.95490197e-01 9.60449238e-03 -9.43770208e-02 -1.31141116e+01] [-8.15268594e-03 9.99842619e-01 1.57566098e-02 3.54866501e-01] [ 9.45135019e-02 -1.49161244e-02 9.95411828e-01 8.05124531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.062557844 meters Centerline goodness : 0.150983 with order 3 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.35, Z:0.81 [[ 0.99542113 0.01770746 -0.09393194 -13.09339209] [ -0.01635394 0.99975133 0.0151599 0.34779579] [ 0.09417703 -0.01355433 0.99546319 0.80756197] [ 0. 0. 0. 1. ]] SLAMing on 345.122557844 meters Centerline goodness : 0.153649 with order 3 Centerline is valid? [False, False] Translation: X:-13.11, Y:0.35, Z:0.80 [[ 9.95572934e-01 9.73381705e-03 -9.34868208e-02 -1.31094025e+01] [-8.17191552e-03 9.99820807e-01 1.70755075e-02 3.52369984e-01] [ 9.36362786e-02 -1.62359467e-02 9.95474079e-01 8.04253938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18255784400003 meters Centerline goodness : 0.178418 with order 1 Centerline is valid? [False, False] Translation: X:-13.10, Y:0.35, Z:0.80 [[ 9.95422795e-01 1.03538211e-02 -9.50066183e-02 -1.31047363e+01] [-8.76181389e-03 9.99814388e-01 1.71587000e-02 3.53732696e-01] [ 9.51666420e-02 -1.62477308e-02 9.95328750e-01 8.03124114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24255784400003 meters Centerline goodness : 0.149589 with order 1 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.35, Z:0.80 [[ 9.95122821e-01 1.06075674e-02 -9.80716615e-02 -1.31466093e+01] [-9.11469161e-03 9.99835864e-01 1.56578226e-02 3.52683624e-01] [ 9.82216558e-02 -1.46875636e-02 9.95056170e-01 7.99613269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30255784400003 meters SLAMing on 345.36255784400004 meters Centerline goodness : 0.134367 with order 3 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.34, Z:0.80 [[ 9.95188985e-01 6.02363059e-03 -9.77885448e-02 -1.31472205e+01] [-4.82474407e-03 9.99910334e-01 1.24918346e-02 3.37042464e-01] [ 9.78550226e-02 -1.19599315e-02 9.95128813e-01 7.99776563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.422557844 meters Centerline goodness : 0.160281 with order 2 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.33, Z:0.80 [[ 9.95166009e-01 6.55873648e-03 -9.79877463e-02 -1.31462333e+01] [-5.27144154e-03 9.99896449e-01 1.33904282e-02 3.32077492e-01] [ 9.80654238e-02 -1.28091623e-02 9.95097532e-01 7.99339289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.482557844 meters SLAMing on 345.542557844 meters Centerline goodness : 0.116546 with order 2 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.33, Z:0.80 [[ 9.95023806e-01 8.33068255e-03 -9.92885970e-02 -1.31412950e+01] [-6.93751463e-03 9.99872700e-01 1.43685165e-02 3.25491715e-01] [ 9.93956571e-02 -1.36081999e-02 9.94954934e-01 7.97689509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.602557844 meters Centerline goodness : 0.117246 with order 2 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.32, Z:0.80 [[ 9.94986297e-01 9.04656894e-03 -9.96013520e-02 -1.31404933e+01] [-7.60831134e-03 9.99861371e-01 1.48105350e-02 3.24962813e-01] [ 9.97215289e-02 -1.39784812e-02 9.94917192e-01 7.97562932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.662557844 meters Centerline goodness : 0.160201 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.32, Z:0.80 [[ 9.94663085e-01 1.04371661e-02 -1.02647031e-01 -1.31861349e+01] [-8.98135608e-03 9.99852570e-01 1.46346563e-02 3.21790447e-01] [ 1.02784643e-01 -1.36346428e-02 9.94610182e-01 7.95204198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.722557844 meters SLAMing on 345.782557844 meters Centerline goodness : 0.121776 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.32, Z:0.80 [[ 9.94852630e-01 8.72524208e-03 -1.00956003e-01 -1.31936317e+01] [-7.37399162e-03 9.99878273e-01 1.37500000e-02 3.15234540e-01] [ 1.01063686e-01 -1.29347749e-02 9.94795870e-01 7.98523518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.842557844 meters Centerline goodness : 0.115107 with order 2 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.31, Z:0.80 [[ 9.94880614e-01 8.90287424e-03 -1.00664310e-01 -1.31945135e+01] [-7.51150443e-03 9.99871067e-01 1.41924803e-02 3.12958634e-01] [ 1.00777685e-01 -1.33636831e-02 9.94819215e-01 7.98760717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.902557844 meters Centerline goodness : 0.180467 with order 1 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.31, Z:0.80 [[ 9.94937355e-01 9.15579957e-03 -1.00079124e-01 -1.31959300e+01] [-7.74228219e-03 9.99864847e-01 1.45032881e-02 3.11525295e-01] [ 1.00198387e-01 -1.36550223e-02 9.94873773e-01 7.98549169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.962557844 meters Centerline goodness : 0.130990 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.31, Z:0.80 [[ 9.94910428e-01 9.46883967e-03 -1.00317405e-01 -1.31947390e+01] [-8.00932838e-03 9.99856288e-01 1.49417197e-02 3.09897621e-01] [ 1.00444469e-01 -1.40621977e-02 9.94843286e-01 7.97753953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.022557844 meters Centerline goodness : 0.124454 with order 2 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.31, Z:0.80 [[ 9.94918878e-01 5.63640408e-03 -1.00521925e-01 -1.31944131e+01] [-4.46417442e-03 9.99919435e-01 1.18825676e-02 3.05324060e-01] [ 1.00580801e-01 -1.13734435e-02 9.94863884e-01 7.97955361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.082557844 meters Centerline goodness : 0.124822 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.30, Z:0.80 [[ 9.94938377e-01 6.18025383e-03 -1.00296710e-01 -1.31949091e+01] [-4.90162114e-03 9.99903613e-01 1.29899291e-02 2.99738439e-01] [ 1.00367324e-01 -1.24325625e-02 9.94872772e-01 7.98014337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.142557844 meters Centerline goodness : 0.087226 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.30, Z:0.80 [[ 9.94915612e-01 6.69930267e-03 -1.00489029e-01 -1.31935610e+01] [-5.32389362e-03 9.99888533e-01 1.39490953e-02 2.95136505e-01] [ 1.00571277e-01 -1.33431798e-02 9.94840378e-01 7.97012443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.202557844 meters Centerline goodness : 0.090001 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.29, Z:0.80 [[ 9.94816957e-01 7.53242374e-03 -1.01402585e-01 -1.31906751e+01] [-6.04716520e-03 9.99870007e-01 1.49465825e-02 2.90238173e-01] [ 1.01501987e-01 -1.42559155e-02 9.94733188e-01 7.96427432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.262557844 meters Centerline goodness : 0.246165 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.29, Z:0.80 [[ 9.94816836e-01 8.00476795e-03 -1.01367585e-01 -1.31905074e+01] [-6.46066668e-03 9.99858190e-01 1.55518435e-02 2.87663902e-01] [ 1.01477699e-01 -1.48163336e-02 9.94727477e-01 7.96021941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.322557844 meters Centerline goodness : 0.088565 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.28, Z:0.80 [[ 9.94803136e-01 8.66868027e-03 -1.01447398e-01 -1.31895820e+01] [-7.00231972e-03 9.99834846e-01 1.67704546e-02 2.81823552e-01] [ 1.01576021e-01 -1.59729337e-02 9.94699541e-01 7.95201915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.382557844 meters Centerline goodness : 0.099754 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.28, Z:0.79 [[ 9.94770961e-01 9.01350527e-03 -1.01732452e-01 -1.31883569e+01] [-7.27497918e-03 9.99821317e-01 1.74473008e-02 2.78515982e-01] [ 1.01871535e-01 -1.66159667e-02 9.94658786e-01 7.94606668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.442557844 meters Centerline goodness : 0.098116 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.27, Z:0.80 [[ 9.94925416e-01 6.80670295e-03 -1.00384691e-01 -1.31945618e+01] [-5.22899616e-03 9.99858777e-01 1.59713646e-02 2.72721724e-01] [ 1.00479227e-01 -1.53654054e-02 9.94820501e-01 7.97176695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.502557844 meters Centerline goodness : 0.138929 with order 3 Centerline is valid? [False, False] Translation: X:-13.18, Y:0.27, Z:0.80 [[ 9.95130483e-01 -1.28800245e-03 -9.85579154e-02 -1.31765688e+01] [ 3.06604299e-03 9.99835238e-01 1.78912327e-02 2.73100523e-01] [ 9.85186328e-02 -1.81062939e-02 9.94970472e-01 8.00521027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562557844 meters Centerline goodness : 0.232468 with order 3 Centerline is valid? [False, False] Translation: X:-13.18, Y:0.27, Z:0.80 [[ 9.95151072e-01 -5.30306036e-03 -9.82151818e-02 -1.31773101e+01] [ 6.82216462e-03 9.99862144e-01 1.51377324e-02 2.66449347e-01] [ 9.81213660e-02 -1.57343707e-02 9.95050063e-01 8.00729296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622557844 meters Centerline goodness : 0.085645 with order 1 Centerline is valid? [False, False] Translation: X:-13.18, Y:0.26, Z:0.80 [[ 9.95202144e-01 -5.20329079e-03 -9.77016761e-02 -1.31786070e+01] [ 6.80273229e-03 9.99848134e-01 1.60446907e-02 2.61077165e-01] [ 9.76033534e-02 -1.66323489e-02 9.95086403e-01 8.00971327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68255784400003 meters Centerline goodness : 0.201157 with order 3 Centerline is valid? [False, False] Translation: X:-13.18, Y:0.26, Z:0.80 [[ 9.95209527e-01 -4.84354402e-03 -9.76449601e-02 -1.31786230e+01] [ 6.51748025e-03 9.99837100e-01 1.68314211e-02 2.57275088e-01] [ 9.75475299e-02 -1.73871897e-02 9.95078974e-01 8.00956200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74255784400003 meters Centerline goodness : 0.186549 with order 2 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.25, Z:0.80 [[ 9.94967814e-01 3.24770051e-03 -1.00142409e-01 -1.31962156e+01] [-1.66158974e-03 9.99871922e-01 1.59178939e-02 2.47443109e-01] [ 1.00181279e-01 -1.56713965e-02 9.94845776e-01 7.97437880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80255784400003 meters Centerline goodness : 0.085841 with order 1 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.25, Z:0.80 [[ 9.94953024e-01 3.47161931e-03 -1.00281741e-01 -1.31955681e+01] [-1.85523349e-03 9.99866933e-01 1.62072093e-02 2.46152583e-01] [ 1.00324663e-01 -1.59393659e-02 9.94827070e-01 7.97041037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86255784400004 meters Centerline goodness : 0.215760 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.24, Z:0.80 [[ 9.94957076e-01 3.76134237e-03 -1.00231079e-01 -1.31950914e+01] [-2.10236496e-03 9.99859135e-01 1.66520170e-02 2.43715150e-01] [ 1.00279594e-01 -1.63573198e-02 9.94824829e-01 7.96219878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.922557844 meters Centerline goodness : 0.088910 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.24, Z:0.80 [[ 9.94945997e-01 3.95209942e-03 -1.00333666e-01 -1.31945315e+01] [-2.25677388e-03 9.99852862e-01 1.70047587e-02 2.42000696e-01] [ 1.00386107e-01 -1.66923862e-02 9.94808521e-01 7.95842309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.982557844 meters Centerline goodness : 0.095824 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.24, Z:0.80 [[ 9.94919989e-01 3.54472793e-04 -1.00668214e-01 -1.31933998e+01] [ 1.04197585e-03 9.99903972e-01 1.38188739e-02 2.39706126e-01] [ 1.00663446e-01 -1.38535677e-02 9.94824080e-01 7.95464642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.042557844 meters Centerline goodness : 0.091958 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.24, Z:0.80 [[ 9.94914390e-01 6.51687209e-04 -1.00722048e-01 -1.31932193e+01] [ 8.07735597e-04 9.99895294e-01 1.44481449e-02 2.36458374e-01] [ 1.00720917e-01 -1.44560241e-02 9.94809690e-01 7.95520707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.102557844 meters Centerline goodness : 0.242065 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.23, Z:0.80 [[ 9.94931975e-01 1.11946049e-03 -1.00544083e-01 -1.31936144e+01] [ 4.32789853e-04 9.99881083e-01 1.54153659e-02 2.31841631e-01] [ 1.00549384e-01 -1.53807549e-02 9.94813175e-01 7.95560983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.162557844 meters Centerline goodness : 0.236323 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.23, Z:0.80 [[ 9.94948396e-01 1.35973399e-03 -1.00378484e-01 -1.31943746e+01] [ 2.47903512e-04 9.99871936e-01 1.60015473e-02 2.28785464e-01] [ 1.00387387e-01 -1.59455980e-02 9.94820642e-01 7.96111856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.222557844 meters Centerline goodness : 0.215999 with order 3 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.22, Z:0.80 [[ 9.94944246e-01 1.80171836e-03 -1.00412654e-01 -1.31945094e+01] [-1.00039767e-04 9.99856345e-01 1.69493133e-02 2.24258699e-01] [ 1.00428768e-01 -1.68535765e-02 9.94801498e-01 7.96598712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.282557844 meters Centerline goodness : 0.089637 with order 1 Centerline is valid? [False, False] Translation: X:-13.19, Y:0.22, Z:0.80 [[ 9.94935787e-01 2.17631173e-03 -1.00489019e-01 -1.31941979e+01] [-3.94139704e-04 9.99842353e-01 1.77514416e-02 2.20367291e-01] [ 1.00511809e-01 -1.76219378e-02 9.94779796e-01 7.96631031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.342557844 meters Centerline goodness : 0.091450 with order 1 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.22, Z:0.80 [[ 9.95052935e-01 4.31875220e-04 -9.93452019e-02 -1.31997408e+01] [ 1.22111444e-03 9.99861839e-01 1.65774393e-02 2.15484159e-01] [ 9.93386356e-02 -1.66167415e-02 9.94914931e-01 7.99070605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.402557844 meters Centerline goodness : 0.084514 with order 1 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.21, Z:0.80 [[ 9.95061185e-01 7.18102015e-04 -9.92608816e-02 -1.31998418e+01] [ 9.85788404e-04 9.99853030e-01 1.71156676e-02 2.12973999e-01] [ 9.92585841e-02 -1.71289867e-02 9.94914233e-01 7.98970389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.462557844 meters Centerline goodness : 0.245188 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.21, Z:0.80 [[ 9.95056113e-01 8.46599813e-04 -9.93106987e-02 -1.31993805e+01] [ 8.81200159e-04 9.99849041e-01 1.73527690e-02 2.11867945e-01] [ 9.93103977e-02 -1.73544915e-02 9.94905155e-01 7.98513182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.522557844 meters Centerline goodness : 0.237475 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.21, Z:0.80 [[ 9.95021190e-01 -2.29407640e-03 -9.96371850e-02 -1.31979780e+01] [ 3.78298388e-03 9.99883954e-01 1.47569298e-02 2.07892904e-01] [ 9.95917690e-02 -1.50603837e-02 9.94914401e-01 7.97998258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.582557844 meters Centerline goodness : 0.228658 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.20, Z:0.80 [[ 9.95082923e-01 -4.11791356e-03 -9.89596797e-02 -1.32018568e+01] [ 5.48152772e-03 9.99893690e-01 1.35115518e-02 2.02902887e-01] [ 9.88935198e-02 -1.39875647e-02 9.94999708e-01 7.99958866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.642557844 meters Centerline goodness : 0.103307 with order 1 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.20, Z:0.80 [[ 9.95088954e-01 -3.55531204e-03 -9.89208436e-02 -1.32014376e+01] [ 5.02344878e-03 9.99880848e-01 1.45964179e-02 1.97329760e-01] [ 9.88571622e-02 -1.50216581e-02 9.94988247e-01 7.99465666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.702557844 meters Centerline goodness : 0.146593 with order 1 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.19, Z:0.80 [[ 9.95020131e-01 4.43978933e-03 -9.95752292e-02 -1.32198698e+01] [-3.11443436e-03 9.99904538e-01 1.34615871e-02 1.89906550e-01] [ 9.96254902e-02 -1.30844296e-02 9.94938973e-01 7.95395473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.762557844 meters Centerline goodness : 0.231951 with order 3 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.19, Z:0.80 [[ 9.95036291e-01 4.71445562e-03 -9.94009752e-02 -1.32204549e+01] [-3.35846514e-03 9.99899073e-01 1.38045438e-02 1.88405325e-01] [ 9.94560239e-02 -1.34021873e-02 9.94951698e-01 7.95487565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.822557844 meters Centerline goodness : 0.242934 with order 3 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.19, Z:0.80 [[ 9.95038986e-01 1.25022507e-03 -9.94779005e-02 -1.32201986e+01] [-2.05426939e-04 9.99944722e-01 1.05123665e-02 1.87746413e-01] [ 9.94855444e-02 -1.04397790e-02 9.94984240e-01 7.95237942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.882557844 meters Centerline goodness : 0.143073 with order 3 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.19, Z:0.79 [[ 9.95000358e-01 1.33942018e-03 -9.98623743e-02 -1.32188591e+01] [-2.67895478e-04 9.99942260e-01 1.07426521e-02 1.86407113e-01] [ 9.98709971e-02 -1.06621900e-02 9.94943266e-01 7.94839330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.942557844 meters Centerline goodness : 0.221719 with order 3 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.80 [[ 9.94949678e-01 1.42188228e-03 -1.00364917e-01 -1.32176202e+01] [-3.02392728e-04 9.99937584e-01 1.11685240e-02 1.84074316e-01] [ 1.00374533e-01 -1.10817697e-02 9.94888007e-01 7.95055375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002557844 meters Centerline goodness : 0.160443 with order 1 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.79 [[ 9.94946390e-01 -2.71282597e-03 -1.00370917e-01 -1.32173293e+01] [ 3.49173529e-03 9.99965134e-01 7.58544464e-03 1.83033936e-01] [ 1.00346840e-01 -7.89757943e-03 9.94921173e-01 7.94706950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062557844 meters Centerline goodness : 0.087356 with order 1 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.79 [[ 9.94986998e-01 -2.76269840e-03 -9.99661999e-02 -1.32184131e+01] [ 3.60451131e-03 9.99959543e-01 8.24133822e-03 1.78932029e-01] [ 9.99393873e-02 -8.56035367e-03 9.94956702e-01 7.94977041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122557844 meters Centerline goodness : 0.098888 with order 1 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.79 [[ 9.94961964e-01 -2.57353306e-03 -1.00220090e-01 -1.32174432e+01] [ 3.46679717e-03 9.99955797e-01 8.73988461e-03 1.76289100e-01] [ 1.00193167e-01 -9.04329548e-03 9.94926906e-01 7.94685102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18255784400003 meters Centerline goodness : 0.107138 with order 1 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.79 [[ 9.94964286e-01 -2.45605959e-03 -1.00199988e-01 -1.32171248e+01] [ 3.33989285e-03 9.99956977e-01 8.65389505e-03 1.77489773e-01] [ 1.00174423e-01 -8.94497374e-03 9.94929682e-01 7.94084239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24255784400003 meters Centerline goodness : 0.227177 with order 3 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.79 [[ 9.95002953e-01 -2.57518220e-03 -9.98122806e-02 -1.32181138e+01] [ 3.41511120e-03 9.99960177e-01 8.24513853e-03 1.79543722e-01] [ 9.97870730e-02 -8.54480723e-03 9.94972123e-01 7.93888338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30255784400003 meters Centerline goodness : 0.103428 with order 1 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.80 [[ 9.95068552e-01 -2.65919471e-03 -9.91539497e-02 -1.32207828e+01] [ 3.47970100e-03 9.99961115e-01 8.10305317e-03 1.80486539e-01] [ 9.91285466e-02 -8.40811948e-03 9.95039112e-01 7.95047716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36255784400004 meters Centerline goodness : 0.227204 with order 3 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.79 [[ 9.95039035e-01 -2.76362323e-03 -9.94468809e-02 -1.32197869e+01] [ 3.59235389e-03 9.99960292e-01 8.15529706e-03 1.79824502e-01] [ 9.94203939e-02 -8.47208731e-03 9.95009452e-01 7.94777491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.422557844 meters Centerline goodness : 0.232330 with order 3 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.79 [[ 9.94978985e-01 -3.11771144e-03 -1.00035488e-01 -1.32180877e+01] [ 3.93190192e-03 9.99960725e-01 7.94288913e-03 1.79534130e-01] [ 1.00006796e-01 -8.29633750e-03 9.94952165e-01 7.94586543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.482557844 meters Centerline goodness : 0.230113 with order 3 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.80 [[ 9.95001572e-01 -3.10883613e-03 -9.98108524e-02 -1.32191756e+01] [ 3.94176682e-03 9.99959028e-01 8.14896780e-03 1.78228730e-01] [ 9.97814291e-02 -8.50166688e-03 9.94973059e-01 7.95333179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.542557844 meters Centerline goodness : 0.108669 with order 1 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.18, Z:0.80 [[ 9.95042931e-01 -2.97530926e-03 -9.94017738e-02 -1.32203214e+01] [ 3.86169827e-03 9.99954471e-01 8.72601903e-03 1.75013623e-01] [ 9.93712856e-02 -9.06662321e-03 9.95009118e-01 7.95576788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.602557844 meters Centerline goodness : 0.155643 with order 1 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.17, Z:0.80 [[ 9.95014943e-01 -2.91425830e-03 -9.96833452e-02 -1.32192997e+01] [ 3.81822955e-03 9.99953292e-01 8.87884807e-03 1.74070884e-01] [ 9.96528140e-02 -9.21520040e-03 9.94979596e-01 7.95201942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.662557844 meters Centerline goodness : 0.223790 with order 3 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.17, Z:0.79 [[ 9.95080608e-01 6.15777149e-03 -9.88770212e-02 -1.32411064e+01] [-5.31272136e-03 9.99947100e-01 8.80750386e-03 1.69398494e-01] [ 9.89260252e-02 -8.23887023e-03 9.95060683e-01 7.92268510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.722557844 meters Centerline goodness : 0.143635 with order 1 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.17, Z:0.79 [[ 9.95131166e-01 6.30170863e-03 -9.83577737e-02 -1.32427703e+01] [-5.45221710e-03 9.99945502e-01 8.90315031e-03 1.68934111e-01] [ 9.84085185e-02 -8.32353441e-03 9.95111291e-01 7.92585280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.782557844 meters Centerline goodness : 0.094424 with order 1 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.17, Z:0.79 [[ 9.95107043e-01 6.53559241e-03 -9.85863032e-02 -1.32418592e+01] [-5.64924225e-03 9.99941102e-01 9.26707566e-03 1.67492180e-01] [ 9.86410625e-02 -8.66479434e-03 9.95085354e-01 7.92110526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.842557844 meters Centerline goodness : 0.235391 with order 3 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.16, Z:0.79 [[ 9.95102700e-01 6.84202535e-03 -9.86093503e-02 -1.32415521e+01] [-5.89667292e-03 9.99933854e-01 9.87510441e-03 1.64374137e-01] [ 9.86703933e-02 -9.24527597e-03 9.95077222e-01 7.91831379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.902557844 meters Centerline goodness : 0.102608 with order 2 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.16, Z:0.79 [[ 9.95122853e-01 7.21644002e-03 -9.83790128e-02 -1.32422353e+01] [-6.17989259e-03 9.99922182e-01 1.08369262e-02 1.59517999e-01] [ 9.84495612e-02 -1.01761012e-02 9.95090011e-01 7.92030542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.962557844 meters Centerline goodness : 0.104743 with order 1 Centerline is valid? [False, False] Translation: X:-13.28, Y:0.15, Z:0.79 [[ 9.94746519e-01 5.71413797e-03 -1.02209152e-01 -1.32829892e+01] [-4.67257017e-03 9.99934720e-01 1.04270705e-02 1.51839110e-01] [ 1.02262061e-01 -9.89471270e-03 9.94708282e-01 7.87508482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.022557844 meters Centerline goodness : 0.161625 with order 1 Centerline is valid? [False, False] Translation: X:-13.28, Y:0.15, Z:0.79 [[ 9.94773693e-01 2.11544749e-03 -1.02082438e-01 -1.32835652e+01] [-1.36429194e-03 9.99971484e-01 7.42757964e-03 1.49569293e-01] [ 1.02095240e-01 -7.24949059e-03 9.94748213e-01 7.87689105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.082557844 meters Centerline goodness : 0.107810 with order 1 Centerline is valid? [False, False] Translation: X:-13.28, Y:0.14, Z:0.79 [[ 9.94800295e-01 -1.81694590e-03 -1.01828640e-01 -1.32840243e+01] [ 2.28611826e-03 9.99987302e-01 4.49095940e-03 1.44532834e-01] [ 1.01819187e-01 -4.70040005e-03 9.94791817e-01 7.87537885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.142557844 meters Centerline goodness : 0.166010 with order 1 Centerline is valid? [False, False] Translation: X:-13.28, Y:0.14, Z:0.79 [[ 9.94686628e-01 -3.62880550e-03 -1.02885097e-01 -1.32792323e+01] [ 4.00234706e-03 9.99986127e-01 3.42446040e-03 1.38688155e-01] [ 1.02871243e-01 -3.81804683e-03 9.94687353e-01 7.85799650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.202557844 meters Centerline goodness : 0.106791 with order 2 Centerline is valid? [False, False] Translation: X:-13.29, Y:0.13, Z:0.79 [[ 9.94826308e-01 -5.60231248e-03 -1.01435846e-01 -1.32850304e+01] [ 5.87473767e-03 9.99979894e-01 2.38716155e-03 1.31353869e-01] [ 1.01420433e-01 -2.97072010e-03 9.94839218e-01 7.87795076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.262557844 meters Centerline goodness : 0.165513 with order 1 Centerline is valid? [False, False] Translation: X:-13.29, Y:0.13, Z:0.79 [[ 9.94838781e-01 -5.26948387e-03 -1.01331295e-01 -1.32855437e+01] [ 5.60222755e-03 9.99979809e-01 2.99942637e-03 1.28431116e-01] [ 1.01313444e-01 -3.55162665e-03 9.94848216e-01 7.88164817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.322557844 meters Centerline goodness : 0.164111 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.12, Z:0.78 [[ 9.95096827e-01 1.23365708e-03 -9.88978393e-02 -1.33033739e+01] [-1.01305302e-03 9.99996886e-01 2.28081223e-03 1.17922943e-01] [ 9.89003451e-02 -2.16944026e-03 9.95094978e-01 7.83194720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.382557844 meters Centerline goodness : 0.167008 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.12, Z:0.78 [[ 9.95106994e-01 1.39413427e-03 -9.87933584e-02 -1.33037340e+01] [-1.13354166e-03 9.99995729e-01 2.69383569e-03 1.15592474e-01] [ 9.87966920e-02 -2.56866834e-03 9.95104324e-01 7.83337639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.442557844 meters Centerline goodness : 0.161182 with order 1 Centerline is valid? [False, False] Translation: X:-13.32, Y:0.11, Z:0.78 [[ 9.95128606e-01 8.57166458e-03 -9.82119354e-02 -1.33220679e+01] [-8.42215153e-03 9.99962657e-01 1.93683765e-03 1.05744817e-01] [ 9.82248698e-02 -1.10024675e-03 9.95163637e-01 7.79554025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502557844 meters Centerline goodness : 0.312310 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.10, Z:0.78 [[ 9.95212860e-01 1.41351639e-06 -9.77310749e-02 -1.33000266e+01] [ 2.77700649e-04 9.99995922e-01 2.84233821e-03 1.04146710e-01] [ 9.77306804e-02 -2.85587152e-03 9.95208801e-01 7.81268932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562557844 meters Centerline goodness : 0.180843 with order 3 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.10, Z:0.78 [[ 9.95184319e-01 1.39206695e-04 -9.80211798e-02 -1.32993330e+01] [ 2.24673237e-04 9.99993125e-01 3.70121050e-03 9.91840496e-02] [ 9.80210212e-02 -3.70540939e-03 9.95177446e-01 7.81487527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622557844 meters Centerline goodness : 0.130972 with order 3 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.09, Z:0.78 [[ 9.95174997e-01 -3.49886221e-03 -9.80534668e-02 -1.32991368e+01] [ 3.64600877e-03 9.99992480e-01 1.32153281e-03 9.15555198e-02] [ 9.80481056e-02 -1.67266021e-03 9.95180271e-01 7.81562625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68255784400003 meters Centerline goodness : 0.212114 with order 3 Centerline is valid? [False, False] Translation: X:-13.32, Y:0.08, Z:0.78 [[ 9.95363257e-01 8.95076275e-04 -9.61830846e-02 -1.33215028e+01] [-1.03074346e-03 9.99998543e-01 -1.36083380e-03 8.15379648e-02] [ 9.61817264e-02 1.45366405e-03 9.95362729e-01 7.79311537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74255784400003 meters Centerline goodness : 0.181721 with order 1 Centerline is valid? [False, False] Translation: X:-13.32, Y:0.07, Z:0.78 [[ 9.95289358e-01 2.17773111e-04 -9.69486797e-02 -1.33189632e+01] [-3.29782300e-04 9.99999297e-01 -1.13932295e-03 7.26124116e-02] [ 9.69483634e-02 1.16592796e-03 9.95288730e-01 7.78773176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80255784400003 meters Centerline goodness : 0.148320 with order 3 Centerline is valid? [False, False] Translation: X:-13.32, Y:0.07, Z:0.78 [[ 9.95210945e-01 2.67990636e-04 -9.77502040e-02 -1.33162318e+01] [-3.29107036e-04 9.99999760e-01 -6.09107188e-04 6.87525204e-02] [ 9.77500173e-02 6.38360420e-04 9.95210795e-01 7.77936697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86255784400004 meters Centerline goodness : 0.155415 with order 3 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.07, Z:0.78 [[ 9.95081165e-01 1.67010041e-04 -9.90628468e-02 -1.33122133e+01] [-1.80712768e-04 9.99999975e-01 -1.29350559e-04 6.50795213e-02] [ 9.90628228e-02 1.46616226e-04 9.95081170e-01 7.77059729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.922557844 meters Centerline goodness : 0.151029 with order 3 Centerline is valid? [False, False] Translation: X:-13.31, Y:0.06, Z:0.78 [[ 9.95067781e-01 2.34910451e-05 -9.91973333e-02 -1.33121537e+01] [-3.30217176e-06 9.99999979e-01 2.03686523e-04 6.24970535e-02] [ 9.91973360e-02 -2.02354330e-04 9.95067760e-01 7.77497149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.982557844 meters Centerline goodness : 0.155311 with order 3 Centerline is valid? [False, False] Translation: X:-13.34, Y:0.06, Z:0.78 [[ 9.95058740e-01 -1.12548678e-02 -9.86480248e-02 -1.33377704e+01] [ 1.13190911e-02 9.99935933e-01 9.13735627e-05 5.75936080e-02] [ 9.86406763e-02 -1.20752804e-03 9.95122384e-01 7.75461825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.042557844 meters Centerline goodness : 0.154189 with order 3 Centerline is valid? [False, False] Translation: X:-13.34, Y:0.05, Z:0.78 [[ 9.95095278e-01 -1.46336941e-02 -9.78327245e-02 -1.33408675e+01] [ 1.45371242e-02 9.99892885e-01 -1.69987063e-03 5.06270659e-02] [ 9.78471206e-02 2.69326767e-04 9.95201421e-01 7.75739101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.102557844 meters Centerline goodness : 0.172081 with order 3 Centerline is valid? [False, False] Translation: X:-13.34, Y:0.04, Z:0.77 [[ 9.95072509e-01 -1.73159003e-02 -9.76261353e-02 -1.33414572e+01] [ 1.71560988e-02 9.99849757e-01 -2.47614428e-03 4.10739137e-02] [ 9.76543444e-02 7.89059476e-04 9.95220079e-01 7.74629717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.162557844 meters Centerline goodness : 0.157749 with order 3 Centerline is valid? [False, False] Translation: X:-13.36, Y:0.03, Z:0.77 [[ 9.95322944e-01 -1.03789223e-02 -9.60443388e-02 -1.33607334e+01] [ 9.99914198e-03 9.99940174e-01 -4.43467979e-03 3.18043701e-02] [ 9.60846200e-02 3.45357756e-03 9.95367178e-01 7.71482769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.222557844 meters Centerline goodness : 0.131484 with order 2 Centerline is valid? [False, False] Translation: X:-13.34, Y:0.03, Z:0.77 [[ 9.95292193e-01 -2.77388465e-03 -9.68801096e-02 -1.33449275e+01] [ 2.34443209e-03 9.99986917e-01 -4.54637595e-03 2.52895735e-02] [ 9.68914532e-02 4.29784365e-03 9.95285675e-01 7.74595321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.282557844 meters Centerline goodness : 0.150793 with order 2 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.02, Z:0.77 [[ 9.95303286e-01 -2.61841907e-03 -9.67704076e-02 -1.33452901e+01] [ 2.21482552e-03 9.99988397e-01 -4.27781159e-03 2.45715545e-02] [ 9.67804859e-02 4.04339037e-03 9.95297538e-01 7.74769914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.342557844 meters Centerline goodness : 0.126848 with order 3 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.02, Z:0.78 [[ 9.95418038e-01 -2.42399588e-03 -9.55879404e-02 -1.33022157e+01] [ 1.96483823e-03 9.99986078e-01 -4.89734074e-03 2.39306561e-02] [ 9.55984807e-02 4.68708647e-03 9.95408942e-01 7.78838020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.402557844 meters Centerline goodness : 0.138002 with order 3 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.02, Z:0.78 [[ 9.95358085e-01 -2.26600106e-03 -9.62140723e-02 -1.33002358e+01] [ 1.85400926e-03 9.99988728e-01 -4.37121510e-03 2.23128908e-02] [ 9.62228929e-02 4.17254251e-03 9.95351066e-01 7.78353904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.462557844 meters Centerline goodness : 0.158417 with order 2 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.02, Z:0.78 [[ 9.95348039e-01 -2.30729138e-03 -9.63169617e-02 -1.33006326e+01] [ 1.91201286e-03 9.99989369e-01 -4.19602726e-03 2.13280207e-02] [ 9.63256192e-02 3.99234823e-03 9.95341869e-01 7.79212439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.522557844 meters Centerline goodness : 0.160191 with order 3 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.02, Z:0.78 [[ 9.95364575e-01 1.96144850e-03 -9.61536054e-02 -1.33008336e+01] [-1.98425645e-03 9.99998021e-01 -1.41585503e-04 2.14159336e-02] [ 9.61531374e-02 3.31722606e-04 9.95366497e-01 7.78941272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.582557844 meters Centerline goodness : 0.143180 with order 3 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.02, Z:0.78 [[ 9.95296508e-01 1.69805530e-03 -9.68606065e-02 -1.32983115e+01] [-1.76018018e-03 9.99998296e-01 -5.55940972e-04 2.31081981e-02] [ 9.68594974e-02 7.23818228e-04 9.95297802e-01 7.78116845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.642557844 meters Centerline goodness : 0.145037 with order 3 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.02, Z:0.78 [[ 9.95253333e-01 1.65482726e-03 -9.73039774e-02 -1.32969541e+01] [-1.72457830e-03 9.99998313e-01 -6.32737033e-04 2.35637696e-02] [ 9.73027661e-02 7.97541969e-04 9.95254508e-01 7.77818438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.702557844 meters Centerline goodness : 0.182417 with order 3 Centerline is valid? [False, False] Translation: X:-13.28, Y:0.03, Z:0.78 [[ 9.95255109e-01 -5.71103893e-03 -9.71321357e-02 -1.32774886e+01] [ 5.82487182e-03 9.99982641e-01 8.88414962e-04 2.53356875e-02] [ 9.71253758e-02 -1.44998177e-03 9.95271098e-01 7.80998851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.762557844 meters Centerline goodness : 0.144363 with order 3 Centerline is valid? [False, False] Translation: X:-13.26, Y:0.02, Z:0.78 [[ 9.95235957e-01 2.09277591e-03 -9.74731297e-02 -1.32577011e+01] [-2.12243451e-03 9.99997728e-01 -2.00588434e-04 1.72932887e-02] [ 9.74724884e-02 4.06513156e-04 9.95238137e-01 7.84418514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.822557844 meters Centerline goodness : 0.141786 with order 2 Centerline is valid? [False, False] Translation: X:-13.24, Y:0.01, Z:0.79 [[ 9.95319923e-01 1.16105150e-02 -9.59345914e-02 -1.32366850e+01] [-1.16917975e-02 9.99931608e-01 -2.85174336e-04 1.35665075e-02] [ 9.59247193e-02 1.40548751e-03 9.95387599e-01 7.86269159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.882557844 meters Centerline goodness : 0.132891 with order 2 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.01, Z:0.79 [[ 9.95421338e-01 2.14928251e-02 -9.31365589e-02 -1.32186421e+01] [-2.16520327e-02 9.99765323e-01 -6.99125921e-04 1.11428475e-02] [ 9.30996756e-02 2.71252068e-03 9.95653099e-01 7.89070216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.942557844 meters Centerline goodness : 0.147006 with order 2 Centerline is valid? [False, False] Translation: X:-13.22, Y:0.01, Z:0.79 [[ 9.95416886e-01 2.17135310e-02 -9.31329469e-02 -1.32187724e+01] [-2.18856358e-02 9.99760139e-01 -8.26868229e-04 1.25563471e-02] [ 9.30926537e-02 2.86135235e-03 9.95653339e-01 7.89236861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002557844 meters Centerline goodness : 0.176110 with order 3 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.02, Z:0.79 [[ 9.95362013e-01 1.51004630e-02 -9.50075704e-02 -1.31991430e+01] [-1.51688240e-02 9.99884947e-01 2.67901570e-06 1.88343026e-02] [ 9.49966799e-02 1.43848652e-03 9.95476550e-01 7.92264671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062557844 meters Centerline goodness : 0.148849 with order 3 Centerline is valid? [False, False] Translation: X:-13.18, Y:0.02, Z:0.80 [[ 9.95381766e-01 7.51604971e-03 -9.57008284e-02 -1.31788517e+01] [-7.43966070e-03 9.99971658e-01 1.15499611e-03 2.17072555e-02] [ 9.57067971e-02 -4.37680376e-04 9.95409472e-01 7.95408080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122557844 meters Centerline goodness : 0.128427 with order 2 Centerline is valid? [False, False] Translation: X:-13.16, Y:0.02, Z:0.80 [[ 9.95612402e-01 -3.41478557e-04 -9.35725884e-02 -1.31587574e+01] [ 5.34063422e-04 9.99997791e-01 2.03309929e-03 2.37130839e-02] [ 9.35716874e-02 -2.07415256e-03 9.95610384e-01 7.97802098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18255784400003 meters Centerline goodness : 0.146171 with order 2 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.02, Z:0.80 [[ 9.95657945e-01 5.71534329e-03 -9.29117412e-02 -1.31364870e+01] [-5.85261708e-03 9.99982147e-01 -1.20505158e-03 2.06071821e-02] [ 9.29031952e-02 1.74359602e-03 9.95673619e-01 7.99392979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24255784400003 meters Centerline goodness : 0.152246 with order 3 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.02, Z:0.80 [[ 9.95646465e-01 5.97426527e-03 -9.30184154e-02 -1.31360828e+01] [-6.08349806e-03 9.99981099e-01 -8.90802032e-04 1.93686016e-02] [ 9.30113353e-02 1.45280124e-03 9.95663990e-01 7.99223954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30255784400003 meters Centerline goodness : 0.149211 with order 3 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.02, Z:0.80 [[ 9.95831319e-01 6.88535619e-03 -9.09536985e-02 -1.30923755e+01] [-7.02122200e-03 9.99974662e-01 -1.17390541e-03 1.94476501e-02] [ 9.09433112e-02 1.80761788e-03 9.95854430e-01 8.02507980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36255784400004 meters Centerline goodness : 0.162036 with order 3 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.02, Z:0.80 [[ 9.95777473e-01 7.08632777e-03 -9.15260010e-02 -1.30905027e+01] [-7.19152484e-03 9.99973805e-01 -8.19617160e-04 1.71433617e-02] [ 9.15177954e-02 1.47436781e-03 9.95802350e-01 8.02127589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.422557844 meters Centerline goodness : 0.130811 with order 2 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.02, Z:0.80 [[ 9.95763909e-01 7.30646118e-03 -9.16561656e-02 -1.30902270e+01] [-7.38603276e-03 9.99972583e-01 -5.28976935e-04 1.58485443e-02] [ 9.16497877e-02 1.20371158e-03 9.95790574e-01 8.02242936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.482557844 meters Centerline goodness : 0.145736 with order 3 Centerline is valid? [False, False] Translation: X:-13.09, Y:0.01, Z:0.80 [[ 9.95824916e-01 7.76844775e-03 -9.09526675e-02 -1.30923469e+01] [-7.80781299e-03 9.99969516e-01 -7.70046794e-05 1.47801824e-02] [ 9.09492966e-02 7.86824597e-04 9.95855214e-01 8.02677078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.542557844 meters Centerline goodness : 0.143033 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.01, Z:0.80 [[ 9.95820174e-01 3.73155537e-03 -9.12592856e-02 -1.30696508e+01] [-3.42101919e-03 9.99987815e-01 3.55898003e-03 1.45903740e-02] [ 9.12714542e-02 -3.23190434e-03 9.95820805e-01 8.04054208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.602557844 meters Centerline goodness : 0.146097 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.01, Z:0.80 [[ 9.95790785e-01 4.04832268e-03 -9.15659514e-02 -1.30685651e+01] [-3.67679782e-03 9.99984312e-01 4.22578238e-03 1.14164093e-02] [ 9.15816222e-02 -3.87132566e-03 9.95790048e-01 8.03661888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.662557844 meters Centerline goodness : 0.127412 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.00, Z:0.81 [[ 9.95975142e-01 4.65861894e-03 -8.95087383e-02 -1.30256868e+01] [-4.28219212e-03 9.99981164e-01 4.39704881e-03 3.66684407e-03] [ 8.95275365e-02 -3.99605770e-03 9.95976331e-01 8.08082912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.722557844 meters Centerline goodness : 0.152327 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.00, Z:0.81 [[ 9.95952412e-01 4.82027251e-03 -8.97527616e-02 -1.30255226e+01] [-4.40921844e-03 9.99978867e-01 4.77755665e-03 7.88597018e-04] [ 8.97738939e-02 -4.36247953e-03 9.95952618e-01 8.09052268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.782557844 meters Centerline goodness : 0.198679 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.00, Z:0.81 [[ 9.95908562e-01 5.63970615e-03 -9.01905249e-02 -1.30238423e+01] [-5.17234992e-03 9.99971963e-01 5.41476460e-03 -1.10631786e-03] [ 9.02185339e-02 -4.92611347e-03 9.95909810e-01 8.08774611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.842557844 meters Centerline goodness : 0.201239 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.00, Z:0.81 [[ 9.95815937e-01 7.19912386e-03 -9.10977061e-02 -1.30204221e+01] [-6.64070275e-03 9.99957267e-01 6.43154049e-03 -2.14334496e-03] [ 9.11401147e-02 -5.79967773e-03 9.95821190e-01 8.07847090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.902557844 meters Centerline goodness : 0.132070 with order 3 Centerline is valid? [False, False] Translation: X:-13.00, Y:-0.01, Z:0.81 [[ 9.95679143e-01 1.60444244e-02 -9.14637693e-02 -1.30002889e+01] [-1.55863369e-02 9.99862161e-01 5.72054134e-03 -9.13107927e-03] [ 9.15429448e-02 -4.27023857e-03 9.95791973e-01 8.10653553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.962557844 meters Centerline goodness : 0.134023 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.01, Z:0.81 [[ 9.95945813e-01 5.70468128e-03 -8.97741341e-02 -1.29858174e+01] [-5.26131207e-03 9.99972771e-01 5.17458869e-03 -5.71233330e-03] [ 8.98012090e-02 -4.68128020e-03 9.95948708e-01 8.14166090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.022557844 meters Centerline goodness : 0.217138 with order 2 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.01, Z:0.82 [[ 9.96091009e-01 3.43601286e-03 -8.82660462e-02 -1.29911793e+01] [-3.05929005e-03 9.99985627e-01 4.40296335e-03 -1.47533830e-02] [ 8.82799062e-02 -4.11572077e-03 9.96087205e-01 8.15191242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.082557844 meters Centerline goodness : 0.128954 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.02, Z:0.82 [[ 9.96109597e-01 3.61133791e-03 -8.80490170e-02 -1.29920685e+01] [-3.21187184e-03 9.99983899e-01 4.67811474e-03 -1.57706566e-02] [ 8.80644936e-02 -4.37711283e-03 9.96105158e-01 8.15693999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.142557844 meters Centerline goodness : 0.133643 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.01, Z:0.81 [[ 9.95908364e-01 5.78914016e-03 -9.01832368e-02 -1.29837186e+01] [-5.28093223e-03 9.99968810e-01 5.87287647e-03 -1.15699477e-02] [ 9.02144229e-02 -5.37259524e-03 9.95907874e-01 8.13131954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.202557844 meters Centerline goodness : 0.131223 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:-0.01, Z:0.82 [[ 9.95906367e-01 1.56381642e-02 -8.90278418e-02 -1.29631214e+01] [-1.52145422e-02 9.99869481e-01 5.43496956e-03 -1.21864044e-02] [ 8.91012149e-02 -4.05820293e-03 9.96014309e-01 8.15202167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.262557844 meters Centerline goodness : 0.147767 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:-0.01, Z:0.82 [[ 9.95954755e-01 1.55452929e-02 -8.85012452e-02 -1.29651774e+01] [-1.51445518e-02 9.99871804e-01 5.19779922e-03 -1.04665258e-02] [ 8.85707010e-02 -3.83646115e-03 9.96062504e-01 8.15891187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.322557844 meters Centerline goodness : 0.222380 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.01, Z:0.81 [[ 9.96040038e-01 5.43188588e-03 -8.87397170e-02 -1.29871169e+01] [-4.99147505e-03 9.99974105e-01 5.18410744e-03 -6.69041106e-03] [ 8.87655785e-02 -4.72063649e-03 9.96041358e-01 8.14054369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.382557844 meters Centerline goodness : 0.126255 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.01, Z:0.81 [[ 9.96048727e-01 5.35570276e-03 -8.86467661e-02 -1.29874782e+01] [-4.91365486e-03 9.99974386e-01 5.20409188e-03 -6.74926270e-03] [ 8.86723671e-02 -4.74794948e-03 9.96049531e-01 8.14177235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.442557844 meters Centerline goodness : 0.145921 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.01, Z:0.81 [[ 9.96084376e-01 5.14246567e-03 -8.82579793e-02 -1.29890229e+01] [-4.70349705e-03 9.99975517e-01 5.18094615e-03 -7.27631202e-03] [ 8.82824613e-02 -4.74553837e-03 9.96084177e-01 8.14781149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502557844 meters Centerline goodness : 0.140618 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.01, Z:0.81 [[ 9.95994993e-01 5.17731945e-03 -8.92589990e-02 -1.29853010e+01] [-4.71955666e-03 9.99974611e-01 5.33876932e-03 -8.10974270e-03] [ 8.92843733e-02 -4.89612461e-03 9.95994141e-01 8.13215917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562557844 meters SLAMing on 352.622557844 meters Centerline goodness : 0.131393 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.01, Z:0.81 [[ 9.96016807e-01 5.32362561e-03 -8.90066258e-02 -1.29866159e+01] [-4.83667197e-03 9.99972139e-01 5.68576457e-03 -9.93709182e-03] [ 8.90344149e-02 -5.23262122e-03 9.96014805e-01 8.14264188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68255784400003 meters Centerline goodness : 0.133053 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:-0.02, Z:0.82 [[ 9.95736802e-01 1.41672692e-02 -9.11455356e-02 -1.29632233e+01] [-1.37253399e-02 9.99890821e-01 5.47362448e-03 -1.54499366e-02] [ 9.12131307e-02 -4.19928588e-03 9.95822540e-01 8.15555416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74255784400003 meters Centerline goodness : 0.139077 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:-0.01, Z:0.82 [[ 9.95695768e-01 1.43848157e-02 -9.15588076e-02 -1.29618572e+01] [-1.39585730e-02 9.99888559e-01 5.29408963e-03 -1.38538600e-02] [ 9.16247587e-02 -3.99327234e-03 9.95785598e-01 8.15233142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80255784400003 meters Centerline goodness : 0.195190 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:-0.01, Z:0.82 [[ 9.95705658e-01 1.42745478e-02 -9.14684595e-02 -1.29622652e+01] [-1.38713281e-02 9.99891074e-01 5.04253708e-03 -1.27962851e-02] [ 9.15304761e-02 -3.75209369e-03 9.95795207e-01 8.15522104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86255784400004 meters Centerline goodness : 0.221651 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:-0.01, Z:0.82 [[ 9.95708646e-01 1.42422524e-02 -9.14409724e-02 -1.29628304e+01] [-1.38436752e-02 9.99891712e-01 4.99166911e-03 -1.28778240e-02] [ 9.15021630e-02 -3.70436897e-03 9.95797987e-01 8.16232597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.922557844 meters Centerline goodness : 0.139286 with order 3 Centerline is valid? [False, False] Translation: X:-12.94, Y:-0.01, Z:0.82 [[ 9.95783741e-01 6.36189957e-03 -9.15110276e-02 -1.29441052e+01] [-5.85786724e-03 9.99966164e-01 5.77542802e-03 -6.60566952e-03] [ 9.15446740e-02 -5.21501787e-03 9.95787315e-01 8.19449714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.982557844 meters Centerline goodness : 0.132057 with order 3 Centerline is valid? [False, False] Translation: X:-12.94, Y:-0.01, Z:0.82 [[ 9.95796014e-01 6.32677807e-03 -9.13798121e-02 -1.29444202e+01] [-5.83147754e-03 9.99966830e-01 5.68622446e-03 -5.89824438e-03] [ 9.14127565e-02 -5.12944033e-03 9.95799878e-01 8.19314534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.042557844 meters Centerline goodness : 0.126383 with order 2 Centerline is valid? [False, False] Translation: X:-12.95, Y:-0.00, Z:0.82 [[ 9.95825588e-01 6.30057156e-03 -9.10587798e-02 -1.29453507e+01] [-5.82786737e-03 9.99968133e-01 5.45616061e-03 -4.12058654e-03] [ 9.10902549e-02 -4.90270586e-03 9.95830572e-01 8.19390178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.102557844 meters Centerline goodness : 0.128523 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:-0.00, Z:0.82 [[ 9.95828255e-01 5.90191829e-03 -9.10563211e-02 -1.29457412e+01] [-5.49489130e-03 9.99973763e-01 4.72010535e-03 -1.10271080e-03] [ 9.10817897e-02 -4.20006969e-03 9.95834558e-01 8.19745175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.162557844 meters Centerline goodness : 0.143129 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:-0.00, Z:0.82 [[ 9.95856273e-01 5.78972694e-03 -9.07566093e-02 -1.29468559e+01] [-5.40110260e-03 9.99975167e-01 4.52706711e-03 -5.28414929e-05] [ 9.07805660e-02 -4.01812242e-03 9.95862814e-01 8.20060902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.222557844 meters Centerline goodness : 0.127166 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.00, Z:0.82 [[ 9.95586622e-01 4.80748581e-03 -9.37238851e-02 -1.29909866e+01] [-4.39710007e-03 9.99979823e-01 4.58468832e-03 2.16279282e-03] [ 9.37440348e-02 -4.15234105e-03 9.95587673e-01 8.16580925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.282557844 meters Centerline goodness : 0.146458 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.01, Z:0.82 [[ 9.95569480e-01 4.47135286e-03 -9.39224007e-02 -1.29898200e+01] [-4.12443759e-03 9.99983938e-01 3.88743109e-03 5.29362707e-03] [ 9.39382743e-02 -3.48283067e-03 9.95571931e-01 8.15537568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.342557844 meters Centerline goodness : 0.137486 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.01, Z:0.82 [[ 9.95610465e-01 4.22543582e-03 -9.34983882e-02 -1.29911341e+01] [-3.93664256e-03 9.99986895e-01 3.27297537e-03 8.72568110e-03] [ 9.35109927e-02 -2.89053879e-03 9.95614051e-01 8.15683499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.402557844 meters Centerline goodness : 0.125284 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.01, Z:0.82 [[ 9.95594912e-01 3.92117544e-03 -9.36770782e-02 -1.29908589e+01] [-3.67210676e-03 9.99989250e-01 2.83102854e-03 1.01503012e-02] [ 9.36871721e-02 -2.47456537e-03 9.95598609e-01 8.15914989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.462557844 meters Centerline goodness : 0.142720 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.01, Z:0.81 [[ 9.95568252e-01 3.53348702e-03 -9.39753737e-02 -1.29893493e+01] [-3.35257188e-03 9.99992211e-01 2.08294327e-03 1.37258399e-02] [ 9.39820018e-02 -1.75865300e-03 9.95572343e-01 8.14807489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.522557844 meters Centerline goodness : 0.130375 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.01, Z:0.81 [[ 9.95586139e-01 3.34439647e-03 -9.37926207e-02 -1.29899177e+01] [-3.19127204e-03 9.99993319e-01 1.78252745e-03 1.49170191e-02] [ 9.37979555e-02 -1.47534185e-03 9.95590160e-01 8.14913777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.582557844 meters Centerline goodness : 0.112227 with order 1 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.02, Z:0.81 [[ 9.95581802e-01 3.16494067e-03 -9.38448642e-02 -1.29897251e+01] [-3.04903340e-03 9.99994402e-01 1.37845352e-03 1.69528209e-02] [ 9.38487015e-02 -1.08622711e-03 9.95585878e-01 8.14764131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.642557844 meters Centerline goodness : 0.134615 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.02, Z:0.82 [[ 9.95587867e-01 1.18038108e-02 -9.30885025e-02 -1.29676792e+01] [-1.18652697e-02 9.99929600e-01 -1.06765991e-04 2.07120053e-02] [ 9.30806887e-02 1.21081511e-03 9.95657832e-01 8.16610087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.702557844 meters Centerline goodness : 0.187300 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.03, Z:0.81 [[ 9.95865544e-01 5.69245194e-03 -9.06609873e-02 -1.29924085e+01] [-5.51411420e-03 9.99982339e-01 2.21743741e-03 2.84145773e-02] [ 9.06720088e-02 -1.70835448e-03 9.95879344e-01 8.14928078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.762557844 meters Centerline goodness : 0.134247 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.03, Z:0.81 [[ 9.95856707e-01 5.36528130e-03 -9.07779269e-02 -1.29918825e+01] [-5.23519061e-03 9.99984900e-01 1.67111771e-03 3.05231188e-02] [ 9.07855222e-02 -1.18895403e-03 9.95869758e-01 8.14600385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.822557844 meters Centerline goodness : 0.136670 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.03, Z:0.81 [[ 9.95798335e-01 5.08153375e-03 -9.14322335e-02 -1.29898544e+01] [-4.96317104e-03 9.99986525e-01 1.52186833e-03 3.07827213e-02] [ 9.14387349e-02 -1.06168014e-03 9.95810138e-01 8.14105307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.882557844 meters Centerline goodness : 0.132342 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.03, Z:0.82 [[ 9.95892215e-01 2.36359895e-03 -9.05157962e-02 -1.29937223e+01] [-2.44243145e-03 9.99996728e-01 -7.60168512e-04 2.84574056e-02] [ 9.05137033e-02 9.78124531e-04 9.95894730e-01 8.15443102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.942557844 meters Centerline goodness : 0.186865 with order 3 Centerline is valid? [False, False] Translation: X:-13.00, Y:0.03, Z:0.82 [[ 9.95979680e-01 -1.83049882e-04 -8.95792553e-02 -1.29984883e+01] [-7.54741495e-05 9.99995842e-01 -2.88258526e-03 2.52671682e-02] [ 8.95794105e-02 2.87775726e-03 9.95975526e-01 8.17483897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002557844 meters Centerline goodness : 0.128658 with order 3 Centerline is valid? [False, False] Translation: X:-13.00, Y:0.02, Z:0.82 [[ 9.95997840e-01 9.65280098e-05 -8.93772530e-02 -1.29987450e+01] [-3.23258038e-04 9.99996767e-01 -2.52230408e-03 2.41710715e-02] [ 8.93767205e-02 2.54110133e-03 9.95994651e-01 8.17117752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062557844 meters Centerline goodness : 0.123439 with order 3 Centerline is valid? [False, False] Translation: X:-13.00, Y:0.02, Z:0.82 [[ 9.95992334e-01 3.24207372e-04 -8.94380487e-02 -1.29984617e+01] [-5.22769825e-04 9.99997451e-01 -2.19669589e-03 2.18422542e-02] [ 8.94371086e-02 2.23464778e-03 9.95989965e-01 8.16978756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122557844 meters Centerline goodness : 0.136544 with order 2 Centerline is valid? [False, False] Translation: X:-13.00, Y:0.02, Z:0.82 [[ 9.95965031e-01 7.12903874e-04 -8.97393357e-02 -1.29972328e+01] [-8.72767176e-04 9.99998102e-01 -1.74219105e-03 2.04177353e-02] [ 8.97379233e-02 1.81348291e-03 9.95963763e-01 8.16256725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18255784400003 meters Centerline goodness : 0.125161 with order 3 Centerline is valid? [False, False] Translation: X:-13.00, Y:0.02, Z:0.82 [[ 9.96009652e-01 9.93516933e-04 -8.92400446e-02 -1.29991069e+01] [-1.11969186e-03 9.99998443e-01 -1.36383291e-03 1.86512867e-02] [ 8.92385507e-02 1.45831209e-03 9.96009214e-01 8.17090132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24255784400003 meters Centerline goodness : 0.139482 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.02, Z:0.82 [[ 9.96104093e-01 9.41875068e-03 -8.76807972e-02 -1.29800187e+01] [-9.70207456e-03 9.99948998e-01 -2.80569850e-03 1.55760891e-02] [ 8.76498991e-02 3.64545339e-03 9.96144671e-01 8.19592340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30255784400003 meters Centerline goodness : 0.133815 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.01, Z:0.82 [[ 9.96119844e-01 9.50998112e-03 -8.74918118e-02 -1.29808772e+01] [-9.73699352e-03 9.99950244e-01 -2.16825466e-03 1.23156946e-02] [ 8.74668384e-02 3.01174870e-03 9.96162879e-01 8.20041159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36255784400004 meters Centerline goodness : 0.129842 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.01, Z:0.82 [[ 9.96184953e-01 5.26506001e-03 -8.71080877e-02 -1.29818238e+01] [-5.77744383e-03 9.99967455e-01 -5.63109527e-03 1.03821899e-02] [ 8.70756048e-02 6.11287446e-03 9.96182951e-01 8.19547739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.422557844 meters Centerline goodness : 0.146661 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.01, Z:0.82 [[ 9.96158621e-01 5.31743447e-03 -8.74055356e-02 -1.29805870e+01] [-5.82425123e-03 9.99967668e-01 -5.54444888e-03 1.00710669e-02] [ 8.73732273e-02 6.03222235e-03 9.96157383e-01 8.18904934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.482557844 meters Centerline goodness : 0.146353 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.01, Z:0.82 [[ 9.96117566e-01 5.32027281e-03 -8.78720115e-02 -1.29790642e+01] [-5.88134100e-03 9.99963932e-01 -6.12739083e-03 1.34914678e-02] [ 8.78362427e-02 6.62040690e-03 9.96112928e-01 8.18267996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.542557844 meters Centerline goodness : 0.126488 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.02, Z:0.82 [[ 9.96215607e-01 6.00481134e-03 -8.67087488e-02 -1.29834315e+01] [-6.55728298e-03 9.99959967e-01 -6.08815948e-03 1.76852677e-02] [ 8.66687193e-02 6.63369329e-03 9.96215101e-01 8.19636809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.602557844 meters Centerline goodness : 0.157774 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.02, Z:0.82 [[ 9.96235292e-01 5.91293277e-03 -8.64886120e-02 -1.29837427e+01] [-6.48928653e-03 9.99958564e-01 -6.38429137e-03 1.93778973e-02] [ 8.64472784e-02 6.92150576e-03 9.96232383e-01 8.19192107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.662557844 meters Centerline goodness : 0.133646 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.02, Z:0.82 [[ 9.96204667e-01 5.79803435e-03 -8.68484013e-02 -1.29819561e+01] [-6.41161306e-03 9.99956409e-01 -6.78765794e-03 2.14980441e-02] [ 8.68052603e-02 7.31873486e-03 9.96198415e-01 8.17890367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.722557844 meters Centerline goodness : 0.128687 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:0.03, Z:0.82 [[ 9.96188798e-01 5.99751163e-03 -8.70167156e-02 -1.29814457e+01] [-6.66971571e-03 9.99950107e-01 -7.43631465e-03 2.62385988e-02] [ 8.69677747e-02 7.98835011e-03 9.96179097e-01 8.17518239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.782557844 meters Centerline goodness : 0.224185 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.03, Z:0.82 [[ 9.96016693e-01 6.59808508e-03 -8.89225075e-02 -1.30295166e+01] [-7.19342999e-03 9.99953798e-01 -6.37629475e-03 2.84491586e-02] [ 8.88763277e-02 6.99055385e-03 9.96018138e-01 8.15721058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.842557844 meters Centerline goodness : 0.128339 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.04, Z:0.82 [[ 9.96094300e-01 2.26349845e-03 -8.82667664e-02 -1.30090811e+01] [-2.59775595e-03 9.99989883e-01 -3.67221269e-03 3.96383804e-02] [ 8.82575614e-02 3.88716565e-03 9.96090103e-01 8.17814495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.902557844 meters Centerline goodness : 0.131756 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.04, Z:0.82 [[ 9.95828363e-01 1.57670057e-04 -9.12460747e-02 -1.30543808e+01] [-5.54640071e-04 9.99990492e-01 -4.32520256e-03 3.83689051e-02] [ 9.12445252e-02 4.35776811e-03 9.95818983e-01 8.15526517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.962557844 meters Centerline goodness : 0.131865 with order 3 Centerline is valid? [False, False] Translation: X:-13.06, Y:0.04, Z:0.82 [[ 9.95868003e-01 -4.08563013e-03 -9.07206002e-02 -1.30562410e+01] [ 3.37833944e-03 9.99962703e-01 -7.94855401e-03 3.74450869e-02] [ 9.07496914e-02 7.60922563e-03 9.95844663e-01 8.16078005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.022557844 meters Centerline goodness : 0.134348 with order 3 Centerline is valid? [False, False] Translation: X:-13.06, Y:0.03, Z:0.82 [[ 9.95940207e-01 -4.78528004e-03 -8.98899665e-02 -1.30587367e+01] [ 4.09150365e-03 9.99960418e-01 -7.90074429e-03 3.47546764e-02] [ 8.99242157e-02 7.50088378e-03 9.95920364e-01 8.16783343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.082557844 meters Centerline goodness : 0.133783 with order 3 Centerline is valid? [False, False] Translation: X:-13.05, Y:0.03, Z:0.82 [[ 9.95815054e-01 -5.19640819e-03 -9.12434997e-02 -1.30549076e+01] [ 4.49454203e-03 9.99958725e-01 -7.89602645e-03 3.26543069e-02] [ 9.12807646e-02 7.45288426e-03 9.95797307e-01 8.16535919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.142557844 meters Centerline goodness : 0.137569 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.03, Z:0.82 [[ 9.95714047e-01 1.58670573e-04 -9.24851948e-02 -1.30779218e+01] [-1.14515431e-03 9.99943020e-01 -1.06134252e-02 2.75973432e-02] [ 9.24782410e-02 1.06738464e-02 9.95657493e-01 8.15494053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.202557844 meters Centerline goodness : 0.129062 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.02, Z:0.82 [[ 9.95765775e-01 4.99528315e-04 -9.19253578e-02 -1.30798774e+01] [-1.41416878e-03 9.99950143e-01 -9.88494882e-03 2.40116383e-02] [ 9.19158368e-02 9.97309170e-03 9.95716835e-01 8.16223808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.262557844 meters Centerline goodness : 0.141123 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.02, Z:0.81 [[ 9.95720887e-01 5.02598396e-04 -9.24102986e-02 -1.30775004e+01] [-1.40488302e-03 9.99951976e-01 -9.69910415e-03 2.23775159e-02] [ 9.24009859e-02 9.78742625e-03 9.95673774e-01 8.14684935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.322557844 meters Centerline goodness : 0.126676 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.02, Z:0.81 [[ 9.95667526e-01 5.74844702e-04 -9.29830484e-02 -1.30761169e+01] [-1.44319541e-03 9.99955974e-01 -9.27183423e-03 1.95653218e-02] [ 9.29736249e-02 9.36585696e-03 9.95624520e-01 8.14824027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.382557844 meters Centerline goodness : 0.146947 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.02, Z:0.82 [[ 9.95702585e-01 7.15787849e-04 -9.26058843e-02 -1.30776292e+01] [-1.53941519e-03 9.99959894e-01 -8.82277138e-03 1.73387684e-02] [ 9.25958550e-02 8.92741518e-03 9.95663753e-01 8.15619748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.442557844 meters Centerline goodness : 0.144624 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.02, Z:0.81 [[ 9.95549417e-01 -7.64334897e-04 -9.42378577e-02 -1.30703472e+01] [-2.04785776e-04 9.99947203e-01 -1.02736727e-02 1.91606278e-02] [ 9.42407348e-02 1.02472474e-02 9.95496699e-01 8.12207138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502557844 meters Centerline goodness : 0.208725 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.02, Z:0.81 [[ 9.95557124e-01 -7.31344848e-04 -9.41566620e-02 -1.30708996e+01] [-2.27336822e-04 9.99948252e-01 -1.01706430e-02 1.85984592e-02] [ 9.41592278e-02 1.01468614e-02 9.95505440e-01 8.12648172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562557844 meters Centerline goodness : 0.134411 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.01, Z:0.81 [[ 9.95626936e-01 -3.70264543e-03 -9.33450296e-02 -1.30749496e+01] [ 2.55337344e-03 9.99919503e-01 -1.24285140e-02 1.47481386e-02] [ 9.33835340e-02 1.21358186e-02 9.95556245e-01 8.14549207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622557844 meters Centerline goodness : 0.133383 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.01, Z:0.81 [[ 9.95585127e-01 -3.65156519e-03 -9.37918984e-02 -1.30737824e+01] [ 2.55973050e-03 9.99927588e-01 -1.17587038e-02 1.04233406e-02] [ 9.38280443e-02 1.14667086e-02 9.95522382e-01 8.14592583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68255784400003 meters Centerline goodness : 0.131008 with order 3 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.01, Z:0.81 [[ 9.95565335e-01 -7.49141460e-03 -9.37738887e-02 -1.30738875e+01] [ 6.14154495e-03 9.99873451e-01 -1.46752719e-02 5.52188717e-03] [ 9.38719602e-02 1.40342754e-02 9.95485356e-01 8.14762190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74255784400003 meters Centerline goodness : 0.156444 with order 1 Centerline is valid? [False, False] Translation: X:-13.07, Y:0.00, Z:0.82 [[ 9.95578837e-01 -7.17064084e-03 -9.36555427e-02 -1.30747063e+01] [ 5.88178490e-03 9.99884269e-01 -1.40304605e-02 2.44825871e-03] [ 9.37453112e-02 1.34175678e-02 9.95505794e-01 8.15547699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80255784400003 meters Centerline goodness : 0.199341 with order 3 Centerline is valid? [False, False] Translation: X:-13.06, Y:-0.00, Z:0.82 [[ 9.95726925e-01 2.93983565e-03 -9.22997702e-02 -1.30555003e+01] [-4.25881527e-03 9.99891570e-01 -1.40964615e-02 -2.95221600e-03] [ 9.22483209e-02 1.44293139e-02 9.95631479e-01 8.18306004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86255784400004 meters Centerline goodness : 0.242129 with order 3 Centerline is valid? [False, False] Translation: X:-13.06, Y:-0.00, Z:0.82 [[ 9.95736230e-01 3.16262625e-03 -9.21919632e-02 -1.30560602e+01] [-4.45582442e-03 9.99894505e-01 -1.38247756e-02 -4.08472616e-03] [ 9.21385148e-02 1.41766212e-02 9.95645277e-01 8.18703778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.922557844 meters Centerline goodness : 0.123146 with order 3 Centerline is valid? [False, False] Translation: X:-13.06, Y:-0.01, Z:0.82 [[ 9.95770584e-01 3.64970576e-03 -9.18020844e-02 -1.30577080e+01] [-4.82339439e-03 9.99909406e-01 -1.25663719e-02 -1.04308244e-02] [ 9.17479042e-02 1.29560211e-02 9.95697978e-01 8.19504436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.982557844 meters Centerline goodness : 0.162687 with order 1 Centerline is valid? [False, False] Translation: X:-13.04, Y:-0.01, Z:0.82 [[ 9.95809047e-01 -5.33531209e-03 -9.13010187e-02 -1.30354040e+01] [ 4.24255301e-03 9.99917081e-01 -1.21586487e-02 -1.44410501e-02] [ 9.13583183e-02 1.17203430e-02 9.95749111e-01 8.21000706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.042557844 meters Centerline goodness : 0.114007 with order 1 Centerline is valid? [False, False] Translation: X:-13.03, Y:-0.02, Z:0.82 [[ 9.95721718e-01 -8.12791826e-03 -9.20445369e-02 -1.30331122e+01] [ 6.92200407e-03 9.99886081e-01 -1.34130997e-02 -2.39686072e-02] [ 9.21430718e-02 1.27185820e-02 9.95664548e-01 8.20198870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.102557844 meters Centerline goodness : 0.136660 with order 2 Centerline is valid? [False, False] Translation: X:-13.04, Y:-0.04, Z:0.82 [[ 9.95495869e-01 9.71922872e-04 -9.47999509e-02 -1.30444687e+01] [-2.42935054e-03 9.99880616e-01 -1.52595183e-02 -3.53881724e-02] [ 9.47738022e-02 1.54210898e-02 9.95379383e-01 8.18530421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.162557844 meters Centerline goodness : 0.085252 with order 2 Centerline is valid? [False, False] Translation: X:-13.04, Y:-0.04, Z:0.82 [[ 9.95442425e-01 1.27736203e-03 -9.53558976e-02 -1.30425231e+01] [-2.70481491e-03 9.99886193e-01 -1.48419855e-02 -3.72296598e-02] [ 9.53260869e-02 1.50322621e-02 9.95332592e-01 8.17796024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.222557844 meters Centerline goodness : 0.157180 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.04, Z:0.82 [[ 9.95718136e-01 -7.72809925e-03 -9.21176939e-02 -1.30242953e+01] [ 6.42372150e-03 9.99874988e-01 -1.44480077e-02 -4.22835435e-02] [ 9.22178336e-02 1.37944049e-02 9.95643302e-01 8.19877689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.282557844 meters Centerline goodness : 0.155073 with order 1 Centerline is valid? [False, False] Translation: X:-13.03, Y:-0.05, Z:0.82 [[ 9.95748625e-01 -1.17641277e-02 -9.13579784e-02 -1.30267443e+01] [ 1.02701491e-02 9.99806023e-01 -1.68059631e-02 -4.89906777e-02] [ 9.15379645e-02 1.57962546e-02 9.95676292e-01 8.19767646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.342557844 meters Centerline goodness : 0.135440 with order 3 Centerline is valid? [False, False] Translation: X:-13.04, Y:-0.06, Z:0.82 [[ 9.95686082e-01 -3.26164072e-03 -9.27285720e-02 -1.30388609e+01] [ 1.57675560e-03 9.99832439e-01 -1.82375351e-02 -6.02385754e-02] [ 9.27725186e-02 1.80126496e-02 9.95524387e-01 8.16602099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.402557844 meters Centerline goodness : 0.099905 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.07, Z:0.82 [[ 9.95527934e-01 5.63403637e-03 -9.42994756e-02 -1.30203087e+01] [-7.31928852e-03 9.99819460e-01 -1.75349540e-02 -6.93106686e-02] [ 9.41836582e-02 1.81467416e-02 9.95389439e-01 8.19209044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.462557844 meters Centerline goodness : 0.095220 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.07, Z:0.82 [[ 9.95527595e-01 5.90346115e-03 -9.42865672e-02 -1.30209442e+01] [-7.56634104e-03 9.99821910e-01 -1.72886929e-02 -7.01640960e-02] [ 9.41677125e-02 1.79247752e-02 9.95394969e-01 8.20087900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.522557844 meters Centerline goodness : 0.139196 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.07, Z:0.82 [[ 9.95563538e-01 6.46311319e-03 -9.38694298e-02 -1.30223684e+01] [-8.07803170e-03 9.99825664e-01 -1.68341001e-02 -7.11657091e-02] [ 9.37442642e-02 1.75176965e-02 9.95442185e-01 8.20595070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.582557844 meters Centerline goodness : 0.134493 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:-0.07, Z:0.82 [[ 9.95843570e-01 -1.56336692e-05 -9.10800945e-02 -1.30056138e+01] [-1.36118546e-03 9.99885749e-01 -1.50544383e-02 -6.88049990e-02] [ 9.10699239e-02 1.51158425e-02 9.95729773e-01 8.23600863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.642557844 meters Centerline goodness : 0.229481 with order 3 Centerline is valid? [False, False] Translation: X:-13.00, Y:-0.07, Z:0.82 [[ 9.95782923e-01 5.13231108e-04 -9.17393428e-02 -1.30038449e+01] [-1.85116238e-03 9.99893162e-01 -1.44995546e-02 -7.05088792e-02] [ 9.17221000e-02 1.46082333e-02 9.95677486e-01 8.23650347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.702557844 meters Centerline goodness : 0.223115 with order 3 Centerline is valid? [False, False] Translation: X:-13.00, Y:-0.07, Z:0.82 [[ 9.95746634e-01 6.02438629e-04 -9.21318515e-02 -1.30024673e+01] [-1.93039459e-03 9.99895525e-01 -1.43252112e-02 -7.15275333e-02] [ 9.21135960e-02 1.44421316e-02 9.95643767e-01 8.23179533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.762557844 meters Centerline goodness : 0.127227 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.07, Z:0.82 [[ 9.95855452e-01 8.89492833e-03 -9.05140825e-02 -1.29817077e+01] [-1.04162052e-02 9.99812095e-01 -1.63485917e-02 -7.26705849e-02] [ 9.03516550e-02 1.72236474e-02 9.95760978e-01 8.24678850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.822557844 meters Centerline goodness : 0.148884 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.07, Z:0.82 [[ 9.95810081e-01 9.19948687e-03 -9.09816048e-02 -1.29803620e+01] [-1.07389624e-02 9.99807088e-01 -1.64456849e-02 -7.17698383e-02] [ 9.08127616e-02 1.73538268e-02 9.95716770e-01 8.24840412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.882557844 meters Centerline goodness : 0.145797 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.07, Z:0.82 [[ 9.95772594e-01 9.27022049e-03 -9.13838239e-02 -1.29790807e+01] [-1.08381228e-02 9.99802203e-01 -1.66760234e-02 -7.05964615e-02] [ 9.12111581e-02 1.75959562e-02 9.95676105e-01 8.24734596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.942557844 meters Centerline goodness : 0.148690 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.07, Z:0.83 [[ 9.95813247e-01 8.79616628e-03 -9.09868345e-02 -1.29811796e+01] [-1.04186398e-02 9.99794805e-01 -1.73723832e-02 -6.84925243e-02] [ 9.08153540e-02 1.82476084e-02 9.95700556e-01 8.26172711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002557844 meters Centerline goodness : 0.206327 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.07, Z:0.83 [[ 9.95816591e-01 8.74265749e-03 -9.09553856e-02 -1.29813067e+01] [-1.03625541e-02 9.99795728e-01 -1.73528124e-02 -6.84086397e-02] [ 9.07850963e-02 1.82227486e-02 9.95703770e-01 8.26081140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062557844 meters Centerline goodness : 0.147920 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.07, Z:0.83 [[ 9.95781517e-01 8.62465054e-03 -9.13498000e-02 -1.29796157e+01] [-1.02797037e-02 9.99791155e-01 -1.76627603e-02 -6.67854898e-02] [ 9.11783870e-02 1.85272992e-02 9.95662212e-01 8.25167429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122557844 meters Centerline goodness : 0.094314 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.07, Z:0.83 [[ 9.95765910e-01 8.39421799e-03 -9.15411900e-02 -1.29794487e+01] [-1.00905542e-02 9.99785556e-01 -1.80837939e-02 -6.52678309e-02] [ 9.13697602e-02 1.89309268e-02 9.95637076e-01 8.25611103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18255784400003 meters Centerline goodness : 0.142300 with order 1 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.06, Z:0.83 [[ 9.95745428e-01 7.99972036e-03 -9.17989523e-02 -1.29790729e+01] [-9.76643113e-03 9.99775330e-01 -1.88123724e-02 -6.27845765e-02] [ 9.16278341e-02 1.96288820e-02 9.95599843e-01 8.26043839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24255784400003 meters Centerline goodness : 0.127709 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.06, Z:0.83 [[ 9.95788191e-01 7.86743762e-03 -9.13453995e-02 -1.29808012e+01] [-9.65482548e-03 9.99770158e-01 -1.91419804e-02 -6.02133309e-02] [ 9.11738061e-02 1.99432819e-02 9.95635276e-01 8.26398322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30255784400003 meters Centerline goodness : 0.226876 with order 3 Centerline is valid? [False, False] Translation: X:-12.98, Y:-0.06, Z:0.83 [[ 9.95774858e-01 7.54974855e-03 -9.15173940e-02 -1.29807261e+01] [-9.39482059e-03 9.99760870e-01 -1.97468795e-02 -5.74080653e-02] [ 9.13464255e-02 2.05232356e-02 9.95607667e-01 8.26945267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36255784400004 meters Centerline goodness : 0.091918 with order 1 Centerline is valid? [False, False] Translation: X:-12.96, Y:-0.05, Z:0.83 [[ 9.95914275e-01 -4.23288499e-04 -9.03026950e-02 -1.29643630e+01] [-1.24091793e-03 9.99830446e-01 -1.83722602e-02 -4.95107129e-02] [ 9.02951606e-02 1.84092545e-02 9.95744889e-01 8.29987277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.422557844 meters Centerline goodness : 0.153838 with order 1 Centerline is valid? [False, False] Translation: X:-12.97, Y:-0.05, Z:0.83 [[ 9.95927876e-01 -6.43158806e-04 -9.01512698e-02 -1.29656122e+01] [-1.06108907e-03 9.99821664e-01 -1.88551120e-02 -4.72280948e-02] [ 9.01473194e-02 1.88739902e-02 9.95749584e-01 8.31246138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.482557844 meters Centerline goodness : 0.155333 with order 1 Centerline is valid? [False, False] Translation: X:-12.97, Y:-0.04, Z:0.83 [[ 9.95961326e-01 -7.37340315e-04 -8.97802549e-02 -1.29669788e+01] [-1.00887296e-03 9.99811237e-01 -1.94029253e-02 -4.37936212e-02] [ 8.97776143e-02 1.94151401e-02 9.95772581e-01 8.31768329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.542557844 meters Centerline goodness : 0.151187 with order 1 Centerline is valid? [False, False] Translation: X:-12.97, Y:-0.04, Z:0.83 [[ 9.95962605e-01 3.21170916e-03 -8.97116211e-02 -1.29673126e+01] [-4.69896105e-03 9.99854930e-01 -1.63718617e-02 -3.84487612e-02] [ 8.96460250e-02 1.67273134e-02 9.95833213e-01 8.32014844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.602557844 meters Centerline goodness : 0.155830 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:-0.03, Z:0.83 [[ 9.95945976e-01 2.82322023e-03 -8.99090825e-02 -1.29667250e+01] [-4.38613112e-03 9.99842613e-01 -1.71904072e-02 -3.49176622e-02] [ 8.98463998e-02 1.75150699e-02 9.95801610e-01 8.31929470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.662557844 meters Centerline goodness : 0.157720 with order 1 Centerline is valid? [False, False] Translation: X:-13.01, Y:-0.04, Z:0.83 [[ 9.95660201e-01 7.25432381e-04 -9.30604003e-02 -1.30116011e+01] [-2.34404424e-03 9.99847855e-01 -1.72850057e-02 -3.58469364e-02] [ 9.30337026e-02 1.74281299e-02 9.95510417e-01 8.30182764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.722557844 meters Centerline goodness : 0.156606 with order 1 Centerline is valid? [False, False] Translation: X:-13.01, Y:-0.04, Z:0.83 [[ 9.95683291e-01 -3.66419205e-03 -9.27435068e-02 -1.30124590e+01] [ 1.79908558e-03 9.99794623e-01 -2.01859961e-02 -3.94838263e-02] [ 9.27984248e-02 1.99320055e-02 9.95485393e-01 8.28928112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.782557844 meters Centerline goodness : 0.162060 with order 1 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.05, Z:0.83 [[ 9.95746627e-01 -7.27055087e-03 -9.18465789e-02 -1.30155713e+01] [ 5.26776092e-03 9.99743444e-01 -2.20294584e-02 -4.59491560e-02] [ 9.19831814e-02 2.14519331e-02 9.95529462e-01 8.28287513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.842557844 meters Centerline goodness : 0.130925 with order 3 Centerline is valid? [False, False] Translation: X:-13.02, Y:-0.05, Z:0.83 [[ 9.95721759e-01 -1.11909131e-02 -9.17220958e-02 -1.30164386e+01] [ 9.04175689e-03 9.99675533e-01 -2.38133232e-02 -5.37781782e-02] [ 9.19588279e-02 2.28821151e-02 9.95499866e-01 8.27104404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.902557844 meters Centerline goodness : 0.220419 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:-0.06, Z:0.82 [[ 9.95669427e-01 -2.80718540e-03 -9.29220705e-02 -1.30309229e+01] [ 4.53111963e-04 9.99678655e-01 -2.53452552e-02 -6.31534476e-02] [ 9.29633593e-02 2.51933917e-02 9.95350746e-01 8.24544921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.962557844 meters Centerline goodness : 0.222054 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:-0.07, Z:0.83 [[ 9.95670466e-01 -2.63137244e-03 -9.29160880e-02 -1.30314675e+01] [ 3.34932032e-04 9.99694305e-01 -2.47221569e-02 -6.64351522e-02] [ 9.29527372e-02 2.45840009e-02 9.95366975e-01 8.25195751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.022557844 meters Centerline goodness : 0.174579 with order 1 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.07, Z:0.83 [[ 9.96031454e-01 -2.04092959e-03 -8.89785251e-02 -1.29932720e+01] [-2.08235714e-04 9.99680868e-01 -2.52610119e-02 -6.79323587e-02] [ 8.90016852e-02 2.51792910e-02 9.95713163e-01 8.29644114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.082557844 meters Centerline goodness : 0.225265 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:-0.07, Z:0.83 [[ 9.96018741e-01 -2.08798296e-03 -8.91196286e-02 -1.29934369e+01] [-1.07130785e-04 9.99696896e-01 -2.46192044e-02 -7.20628863e-02] [ 8.91440205e-02 2.45307364e-02 9.95716620e-01 8.30256864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.142557844 meters Centerline goodness : 0.118985 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:-0.07, Z:0.83 [[ 9.96036081e-01 -1.03986266e-02 -8.83402132e-02 -1.29718423e+01] [ 8.32599942e-03 9.99682115e-01 -2.37980540e-02 -7.33123972e-02] [ 8.85595983e-02 2.29681999e-02 9.95806035e-01 8.32171132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.202557844 meters Centerline goodness : 0.172881 with order 1 Centerline is valid? [False, False] Translation: X:-12.95, Y:-0.08, Z:0.84 [[ 0.99597929 -0.02247234 -0.08671938 -12.95188871] [ 0.0202972 0.99945889 -0.02588338 -0.07762191] [ 0.08725412 0.02401915 0.99589648 0.8351939 ] [ 0. 0. 0. 1. ]] SLAMing on 358.262557844 meters Centerline goodness : 0.132726 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:-0.08, Z:0.83 [[ 0.99594555 -0.02246658 -0.08710744 -12.95120538] [ 0.02039552 0.99948946 -0.02459352 -0.08285633] [ 0.0876155 0.02271721 0.9958953 0.83432928] [ 0. 0. 0. 1. ]] SLAMing on 358.322557844 meters Centerline goodness : 0.181730 with order 1 Centerline is valid? [False, False] Translation: X:-12.95, Y:-0.09, Z:0.83 [[ 0.99590586 -0.02629427 -0.08648768 -12.95347848] [ 0.02411142 0.99936622 -0.02618764 -0.09193125] [ 0.08712145 0.02399509 0.99590867 0.83376082] [ 0. 0. 0. 1. ]] SLAMing on 358.382557844 meters Centerline goodness : 0.135981 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:-0.10, Z:0.83 [[ 0.99587216 -0.02640665 -0.08684085 -12.95295417] [ 0.02428379 0.99938208 -0.0254117 -0.09584286] [ 0.08745822 0.02319798 0.99589804 0.83350509] [ 0. 0. 0. 1. ]] SLAMing on 358.442557844 meters Centerline goodness : 0.168170 with order 1 Centerline is valid? [False, False] Translation: X:-12.97, Y:-0.10, Z:0.83 [[ 0.99622177 -0.01678236 -0.08520878 -12.96817032] [ 0.01469446 0.99957765 -0.02507172 -0.10489169] [ 0.08559356 0.0237249 0.99604763 0.8298818 ] [ 0. 0. 0. 1. ]] SLAMing on 358.502557844 meters Centerline goodness : 0.208735 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:-0.11, Z:0.83 [[ 9.96440557e-01 -7.65034053e-03 -8.39505114e-02 -1.29495140e+01] [ 5.48455317e-03 9.99646930e-01 -2.59987483e-02 -1.09381168e-01] [ 8.41197702e-02 2.54457762e-02 9.96130703e-01 8.32529460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562557844 meters Centerline goodness : 0.229036 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:-0.11, Z:0.83 [[ 9.96403556e-01 -3.57558284e-03 -8.46591370e-02 -1.29477202e+01] [ 1.69083753e-03 9.99749359e-01 -2.23239947e-02 -1.09274635e-01] [ 8.47177392e-02 2.21005628e-02 9.96159862e-01 8.32435561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622557844 meters Centerline goodness : 0.131300 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:-0.11, Z:0.84 [[ 9.96546792e-01 -1.45781817e-03 -8.30202802e-02 -1.29042824e+01] [-4.00165722e-04 9.99749930e-01 -2.23588438e-02 -1.08243703e-01] [ 8.30321144e-02 2.23148560e-02 9.96297001e-01 8.35480954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68255784400003 meters Centerline goodness : 0.183443 with order 1 Centerline is valid? [False, False] Translation: X:-12.89, Y:-0.11, Z:0.84 [[ 9.96584086e-01 -9.20272905e-03 -8.20699038e-02 -1.28852081e+01] [ 7.48275931e-03 9.99746395e-01 -2.12403849e-02 -1.06861924e-01] [ 8.22445600e-02 2.05537203e-02 9.96400209e-01 8.38701447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74255784400003 meters Centerline goodness : 0.156243 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:-0.11, Z:0.84 [[ 9.96556260e-01 -9.23079023e-03 -8.24039586e-02 -1.28843497e+01] [ 7.54122919e-03 9.99755399e-01 -2.07911518e-02 -1.08772451e-01] [ 8.25757212e-02 2.00981253e-02 9.96382113e-01 8.38624853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80255784400003 meters SLAMing on 358.86255784400004 meters Centerline goodness : 0.149597 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:-0.10, Z:0.84 [[ 9.96520034e-01 -8.45607950e-03 -8.29235627e-02 -1.28846084e+01] [ 6.87525671e-03 9.99789506e-01 -1.93306757e-02 -1.02727996e-01] [ 8.30695695e-02 1.86932848e-02 9.96368410e-01 8.40415499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.922557844 meters Centerline goodness : 0.135468 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:-0.11, Z:0.84 [[ 9.96667086e-01 1.68279962e-04 -8.15762906e-02 -1.28659988e+01] [-1.85109842e-03 9.99787039e-01 -2.05535792e-02 -1.05989301e-01] [ 8.15554593e-02 2.06360816e-02 9.96455147e-01 8.42450629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.982557844 meters SLAMing on 359.042557844 meters Centerline goodness : 0.143563 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:-0.10, Z:0.84 [[ 9.96635829e-01 3.64483103e-03 -8.18763664e-02 -1.28658083e+01] [-5.09427144e-03 9.99833870e-01 -1.75008734e-02 -9.61593964e-02] [ 8.17989766e-02 1.78590979e-02 9.96488826e-01 8.43516374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.102557844 meters Centerline goodness : 0.172506 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:-0.09, Z:0.85 [[ 9.96627217e-01 5.09736879e-03 -8.19036511e-02 -1.28672271e+01] [-6.48421013e-03 9.99839928e-01 -1.66755381e-02 -8.84127135e-02] [ 8.18055392e-02 1.71503756e-02 9.96500737e-01 8.45007066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.162557844 meters Centerline goodness : 0.197161 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:-0.09, Z:0.85 [[ 9.96640242e-01 4.70482512e-03 -8.17685318e-02 -1.28675206e+01] [-6.11885176e-03 9.99835897e-01 -1.70510688e-02 -8.57651076e-02] [ 8.16748910e-02 1.74941108e-02 9.96505478e-01 8.45055023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.222557844 meters Centerline goodness : 0.155494 with order 3 Centerline is valid? [False, False] Translation: X:-12.86, Y:-0.08, Z:0.84 [[ 9.96575077e-01 3.89761735e-03 -8.26009901e-02 -1.28644687e+01] [-5.38511755e-03 9.99827188e-01 -1.77931300e-02 -8.15136447e-02] [ 8.25173648e-02 1.81770059e-02 9.96423846e-01 8.44022176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.282557844 meters Centerline goodness : 0.204483 with order 1 Centerline is valid? [False, False] Translation: X:-12.88, Y:-0.07, Z:0.84 [[ 9.96555480e-01 -3.95382855e-03 -8.28344258e-02 -1.28841189e+01] [ 2.66114859e-03 9.99873046e-01 -1.57101878e-02 -7.31651201e-02] [ 8.28860251e-02 1.54356390e-02 9.96439485e-01 8.42577528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.342557844 meters Centerline goodness : 0.165282 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:-0.07, Z:0.85 [[ 9.96874771e-01 -1.04070830e-02 -7.83095420e-02 -1.28670806e+01] [ 9.29186429e-03 9.99850355e-01 -1.45920982e-02 -6.65493752e-02] [ 7.84496845e-02 1.38188529e-02 9.96822294e-01 8.45819845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.402557844 meters Centerline goodness : 0.163928 with order 2 Centerline is valid? [False, False] Translation: X:-12.89, Y:-0.07, Z:0.84 [[ 9.96883769e-01 -2.38110947e-03 -7.88484722e-02 -1.28887847e+01] [ 1.19087991e-03 9.99884694e-01 -1.51387341e-02 -6.58643810e-02] [ 7.88754274e-02 1.49976592e-02 9.96771657e-01 8.43807915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.462557844 meters Centerline goodness : 0.124300 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:-0.06, Z:0.84 [[ 9.96943772e-01 -6.85017391e-04 -7.81194412e-02 -1.28916734e+01] [-4.25719379e-04 9.99899071e-01 -1.42009021e-02 -5.86495543e-02] [ 7.81212846e-02 1.41907579e-02 9.96842860e-01 8.44949933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.522557844 meters Centerline goodness : 0.147538 with order 2 Centerline is valid? [False, False] Translation: X:-12.89, Y:-0.05, Z:0.85 [[ 9.97000359e-01 3.86857520e-03 -7.73001766e-02 -1.28939856e+01] [-4.73742982e-03 9.99927616e-01 -1.10597944e-02 -4.72019003e-02] [ 7.72517957e-02 1.13928231e-02 9.96946520e-01 8.45775403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.582557844 meters Centerline goodness : 0.213457 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:-0.03, Z:0.85 [[ 9.97005428e-01 6.95014851e-03 -7.70186470e-02 -1.28950901e+01] [-7.71235400e-03 9.99924145e-01 -9.60335620e-03 -3.37814982e-02] [ 7.69460599e-02 1.01685933e-02 9.96983402e-01 8.46450716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.642557844 meters Centerline goodness : 0.204274 with order 1 Centerline is valid? [False, False] Translation: X:-12.89, Y:-0.03, Z:0.84 [[ 9.96949530e-01 9.84252064e-03 -7.74258295e-02 -1.28920493e+01] [-1.04776120e-02 9.99914681e-01 -7.80062038e-03 -2.54091839e-02] [ 7.73424458e-02 8.58806263e-03 9.96967598e-01 8.44474486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.702557844 meters Centerline goodness : 0.417096 with order 2 Centerline is valid? [False, False] Translation: X:-12.89, Y:-0.02, Z:0.84 [[ 9.96919960e-01 9.16752117e-03 -7.78880613e-02 -1.28903405e+01] [-9.90727427e-03 9.99909363e-01 -9.11653465e-03 -1.79212587e-02] [ 7.77974257e-02 9.86011375e-03 9.96920427e-01 8.43953780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.762557844 meters Centerline goodness : 0.208913 with order 1 Centerline is valid? [False, False] Translation: X:-12.91, Y:-0.00, Z:0.84 [[ 9.96892977e-01 1.10087951e-03 -7.87602736e-02 -1.29069162e+01] [-1.69473096e-03 9.99970637e-01 -7.47354191e-03 -4.86820379e-03] [ 7.87497335e-02 7.58379891e-03 9.96865570e-01 8.40843259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.822557844 meters Centerline goodness : 0.159660 with order 2 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.00, Z:0.84 [[ 9.96925859e-01 -7.13603795e-03 -7.80250517e-02 -1.28864590e+01] [ 6.59509324e-03 9.99952414e-01 -7.18845261e-03 1.59051665e-03] [ 7.80726359e-02 6.65177180e-03 9.96925482e-01 8.43736292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.882557844 meters Centerline goodness : 0.121162 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.00, Z:0.84 [[ 9.96946506e-01 -3.02682732e-03 -7.80288561e-02 -1.28870057e+01] [ 2.76178665e-03 9.99990046e-01 -3.50439114e-03 3.77004358e-03] [ 7.80386866e-02 3.27819145e-03 9.96944942e-01 8.44429592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.942557844 meters Centerline goodness : 0.158448 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.01, Z:0.85 [[ 9.97014160e-01 7.24116183e-04 -7.72155470e-02 -1.28900841e+01] [-8.16441318e-04 9.99998989e-01 -1.16411923e-03 1.13715518e-02] [ 7.72146260e-02 1.22368532e-03 9.97013743e-01 8.45800125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002557844 meters Centerline goodness : 0.156706 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.02, Z:0.85 [[ 9.97008074e-01 4.49727694e-03 -7.71665390e-02 -1.28902283e+01] [-4.39599245e-03 9.99989239e-01 1.48235985e-03 1.75720945e-02] [ 7.71723752e-02 -1.13870122e-03 9.97017115e-01 8.45894207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062557844 meters Centerline goodness : 0.169675 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.03, Z:0.85 [[ 9.96958613e-01 1.58492588e-02 -7.63041585e-02 -1.28671760e+01] [-1.57662633e-02 9.99874277e-01 1.69000285e-03 2.61788771e-02] [ 7.63213505e-02 -4.81831446e-04 9.97083156e-01 8.46334768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122557844 meters Centerline goodness : 0.152342 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.03, Z:0.85 [[ 9.96968774e-01 1.54583491e-02 -7.62515795e-02 -1.28669346e+01] [-1.54602730e-02 9.99880323e-01 5.65098802e-04 3.21560161e-02] [ 7.62511895e-02 6.15484377e-04 9.97088450e-01 8.45805695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18255784400003 meters Centerline goodness : 0.144531 with order 2 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.04, Z:0.85 [[ 9.96942605e-01 1.54499855e-02 -7.65946547e-02 -1.28656707e+01] [-1.55189087e-02 9.99879528e-01 -3.04682756e-04 4.20927574e-02] [ 7.65807199e-02 1.49241668e-03 9.97062268e-01 8.45412564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24255784400003 meters Centerline goodness : 0.148090 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.05, Z:0.84 [[ 9.97217067e-01 9.00330002e-03 -7.40071739e-02 -1.28834063e+01] [-8.97360833e-03 9.99959467e-01 7.33708676e-04 5.35869615e-02] [ 7.40107799e-02 -6.75554221e-05 9.97257439e-01 8.41111271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30255784400003 meters Centerline goodness : 0.138822 with order 2 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.06, Z:0.84 [[ 9.97395096e-01 1.21221550e-02 -7.11060832e-02 -1.28432094e+01] [-1.20469543e-02 9.99926328e-01 1.48635415e-03 6.41787986e-02] [ 7.11188625e-02 -6.25870604e-04 9.97467651e-01 8.44193150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36255784400004 meters Centerline goodness : 0.144803 with order 2 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.07, Z:0.84 [[ 9.97387126e-01 1.18090525e-02 -7.12703775e-02 -1.28422274e+01] [-1.17987837e-02 9.99930232e-01 5.65082335e-04 6.84773159e-02] [ 7.12720782e-02 2.77297920e-04 9.97456873e-01 8.43410631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.422557844 meters Centerline goodness : 0.142157 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.08, Z:0.84 [[ 9.97328047e-01 1.25946174e-02 -7.19593167e-02 -1.28400949e+01] [-1.25920141e-02 9.99920597e-01 4.89840020e-04 7.55533603e-02] [ 7.19597723e-02 4.17581537e-04 9.97407448e-01 8.42862445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.482557844 meters Centerline goodness : 0.119607 with order 2 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.08, Z:0.84 [[ 9.97278869e-01 1.28344050e-02 -7.25957043e-02 -1.28380204e+01] [-1.28670988e-02 9.99917215e-01 1.73128934e-05 7.95310595e-02] [ 7.25899167e-02 9.16830315e-04 9.97361451e-01 8.42346304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.542557844 meters Centerline goodness : 0.138622 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.09, Z:0.84 [[ 9.97250117e-01 1.33049035e-02 -7.29053077e-02 -1.28363023e+01] [-1.33655251e-02 9.99910618e-01 -3.43694740e-04 8.68117954e-02] [ 7.28942185e-02 1.31716734e-03 9.97338808e-01 8.41287114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.602557844 meters Centerline goodness : 0.153014 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.09, Z:0.84 [[ 9.97317628e-01 1.36002538e-02 -7.19206706e-02 -1.28387329e+01] [-1.36874722e-02 9.99906063e-01 -7.19974761e-04 9.14842578e-02] [ 7.19041228e-02 1.70245570e-03 9.97410096e-01 8.41215332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.662557844 meters Centerline goodness : 0.157610 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.10, Z:0.84 [[ 9.97282201e-01 1.30446652e-02 -7.25124075e-02 -1.28366391e+01] [-1.32114127e-02 9.99911068e-01 -1.82039975e-03 9.62909399e-02] [ 7.24822123e-02 2.77344361e-03 9.97365849e-01 8.40253017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.722557844 meters Centerline goodness : 0.139015 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.10, Z:0.84 [[ 9.97277166e-01 1.29860942e-02 -7.25921210e-02 -1.28363509e+01] [-1.31608193e-02 9.99911532e-01 -1.92912484e-03 9.71522379e-02] [ 7.25606471e-02 2.87924394e-03 9.97359846e-01 8.40040701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.782557844 meters Centerline goodness : 0.136182 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.84 [[ 9.97422943e-01 5.02857645e-03 -7.15694522e-02 -1.28177894e+01] [-5.10020576e-03 9.99986659e-01 -8.18126569e-04 1.01761117e-01] [ 7.15643834e-02 1.18103714e-03 9.97435283e-01 8.42904422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.842557844 meters Centerline goodness : 0.140615 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.84 [[ 9.97484885e-01 4.80488502e-03 -7.07164612e-02 -1.28207721e+01] [-4.88148774e-03 9.99987671e-01 -9.10459251e-04 1.01290291e-01] [ 7.07112147e-02 1.25337088e-03 9.97496042e-01 8.44066793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.902557844 meters Centerline goodness : 0.155639 with order 2 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.84 [[ 9.97473901e-01 4.97000243e-03 -7.08598320e-02 -1.28204692e+01] [-5.04595684e-03 9.99986870e-01 -8.92932997e-04 1.02003325e-01] [ 7.08544637e-02 1.24823301e-03 9.97485883e-01 8.44212854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.962557844 meters Centerline goodness : 0.147282 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.84 [[ 9.97527816e-01 5.39003462e-03 -7.00657071e-02 -1.28228249e+01] [-5.47749432e-03 9.99984441e-01 -1.05618288e-03 1.04104770e-01] [ 7.00589241e-02 1.43735631e-03 9.97541819e-01 8.44733686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.022557844 meters Centerline goodness : 0.132240 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.11, Z:0.84 [[ 9.97542582e-01 5.36491149e-03 -6.98571093e-02 -1.28233050e+01] [-5.47885280e-03 9.99983955e-01 -1.43956078e-03 1.06343052e-01] [ 6.98482653e-02 1.81875999e-03 9.97555969e-01 8.44595249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.082557844 meters Centerline goodness : 0.122036 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.11, Z:0.84 [[ 9.97557929e-01 5.37935566e-03 -6.96364899e-02 -1.28239052e+01] [-5.49033623e-03 9.99983945e-01 -1.40241345e-03 1.06280578e-01] [ 6.96278277e-02 1.78131640e-03 9.97571447e-01 8.44568756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.142557844 meters Centerline goodness : 0.121695 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.84 [[ 9.97587126e-01 1.41694211e-03 -6.94112245e-02 -1.28242888e+01] [-1.75052686e-03 9.99987209e-01 -4.74532867e-03 1.03568628e-01] [ 6.94036128e-02 4.85538501e-03 9.97576846e-01 8.44273152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.202557844 meters Centerline goodness : 0.127584 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.09, Z:0.84 [[ 9.97507980e-01 -1.71590994e-03 -7.05328705e-02 -1.28191649e+01] [ 1.25144211e-03 9.99977246e-01 -6.62878743e-03 9.43484637e-02] [ 7.05426400e-02 6.52400055e-03 9.97487430e-01 8.41654719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.262557844 meters Centerline goodness : 0.139374 with order 2 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.09, Z:0.84 [[ 9.97501759e-01 -1.18186357e-03 -7.06317425e-02 -1.28186710e+01] [ 8.03325408e-04 9.99985165e-01 -5.38748607e-03 8.78923537e-02] [ 7.06370619e-02 5.31728656e-03 9.97487911e-01 8.41396948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.322557844 meters Centerline goodness : 0.234940 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.08, Z:0.84 [[ 9.97538952e-01 -5.73054461e-04 -7.01121322e-02 -1.28201107e+01] [ 2.61987890e-04 9.99990083e-01 -4.44581619e-03 8.40521268e-02] [ 7.01139846e-02 4.41650630e-03 9.97529209e-01 8.41691445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.382557844 meters Centerline goodness : 0.242848 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.08, Z:0.84 [[ 9.97427279e-01 1.05736950e-03 -7.16777856e-02 -1.28153223e+01] [-1.30442888e-03 9.99993369e-01 -3.40008354e-03 8.15455450e-02] [ 7.16737151e-02 3.48483464e-03 9.97422044e-01 8.40448585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.442557844 meters Centerline goodness : 0.128481 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.08, Z:0.84 [[ 9.97448012e-01 2.61158045e-03 -7.13487391e-02 -1.28156717e+01] [-2.79024941e-03 9.99993216e-01 -2.40461146e-03 8.12757970e-02] [ 7.13419753e-02 2.59755570e-03 9.97448533e-01 8.39540411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.502557844 meters Centerline goodness : 0.119252 with order 2 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.08, Z:0.84 [[ 9.97522351e-01 3.03282993e-03 -7.02848632e-02 -1.28186970e+01] [-3.19889554e-03 9.99992352e-01 -2.25031478e-03 8.17993268e-02] [ 7.02775008e-02 2.46957323e-03 9.97524423e-01 8.39984525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.562557844 meters Centerline goodness : 0.122724 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.08, Z:0.84 [[ 9.97586390e-01 3.11814537e-03 -6.93662190e-02 -1.28215824e+01] [-3.29142215e-03 9.99991742e-01 -2.38384519e-03 8.28985382e-02] [ 6.93582130e-02 2.60640502e-03 9.97588415e-01 8.40665164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.622557844 meters Centerline goodness : 0.122453 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.08, Z:0.84 [[ 9.97625175e-01 3.16964792e-03 -6.88038059e-02 -1.28230883e+01] [-3.35818391e-03 9.99990917e-01 -2.62470485e-03 8.48503499e-02] [ 6.87948615e-02 2.84952747e-03 9.97626757e-01 8.40640474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68255784400003 meters Centerline goodness : 0.124336 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.09, Z:0.84 [[ 9.97360172e-01 2.54178314e-03 -7.25687776e-02 -1.28653071e+01] [-2.76614893e-03 9.99991700e-01 -2.99143428e-03 8.69857277e-02] [ 7.25605717e-02 3.18427345e-03 9.97358924e-01 8.38026660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74255784400003 meters Centerline goodness : 0.126959 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.09, Z:0.84 [[ 9.97365546e-01 2.25927666e-03 -7.25042258e-02 -1.28651951e+01] [-2.53893760e-03 9.99989688e-01 -3.76523591e-03 9.09557313e-02] [ 7.24949715e-02 3.93940027e-03 9.97360998e-01 8.37444738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80255784400003 meters Centerline goodness : 0.238849 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.10, Z:0.84 [[ 9.97420814e-01 2.11077841e-03 -7.17444315e-02 -1.28672583e+01] [-2.43544840e-03 9.99987185e-01 -4.43819198e-03 9.54420391e-02] [ 7.17341441e-02 4.60147492e-03 9.97413174e-01 8.37475756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86255784400004 meters Centerline goodness : 0.126252 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.10, Z:0.84 [[ 9.97446013e-01 1.56843567e-03 -7.14072192e-02 -1.28683751e+01] [-1.98234872e-03 9.99981641e-01 -5.72601702e-03 1.02906584e-01] [ 7.13969273e-02 5.85294686e-03 9.97430811e-01 8.37588706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.922557844 meters Centerline goodness : 0.124732 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.11, Z:0.84 [[ 9.97453854e-01 1.12385748e-03 -7.13060011e-02 -1.28684225e+01] [-1.60061909e-03 9.99976745e-01 -6.62934853e-03 1.07189294e-01] [ 7.12968925e-02 6.72660299e-03 9.97432457e-01 8.37162635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.982557844 meters Centerline goodness : 0.128350 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.11, Z:0.84 [[ 9.97483145e-01 4.11188772e-04 -7.09027938e-02 -1.28698272e+01] [-9.58070066e-04 9.99970055e-01 -7.67927827e-03 1.11862812e-01] [ 7.08975130e-02 7.72788049e-03 9.97453669e-01 8.37603716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.042557844 meters Centerline goodness : 0.132776 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.11, Z:0.84 [[ 9.97496590e-01 -1.39487997e-04 -7.07144435e-02 -1.28706082e+01] [-4.50336639e-04 9.99965246e-01 -8.32492462e-03 1.14506280e-01] [ 7.07131471e-02 8.33592923e-03 9.97461860e-01 8.38044154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.102557844 meters Centerline goodness : 0.131116 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.12, Z:0.84 [[ 9.97495010e-01 -3.61643697e-04 -7.07359538e-02 -1.28702965e+01] [-2.56114290e-04 9.99961912e-01 -8.72403093e-03 1.16250055e-01] [ 7.07364146e-02 8.72029381e-03 9.97456924e-01 8.37621168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.162557844 meters Centerline goodness : 0.136248 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.11, Z:0.83 [[ 9.97283208e-01 -7.42307959e-04 -7.36590191e-02 -1.29144091e+01] [ 1.28315232e-04 9.99965213e-01 -8.33999038e-03 1.13688340e-01] [ 7.36626476e-02 8.30788079e-03 9.97248612e-01 8.34921862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.222557844 meters Centerline goodness : 0.124750 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.11, Z:0.83 [[ 9.97233648e-01 -6.95883294e-04 -7.43274362e-02 -1.29123159e+01] [ 7.05390324e-05 9.99964585e-01 -8.41566432e-03 1.13824033e-01] [ 7.43306602e-02 8.38714064e-03 9.97198380e-01 8.34285415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.282557844 meters Centerline goodness : 0.122184 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.11, Z:0.83 [[ 9.97198706e-01 -5.69248168e-04 -7.47958305e-02 -1.29107713e+01] [-6.45361791e-05 9.99964120e-01 -8.47083498e-03 1.14427884e-01] [ 7.47979689e-02 8.45193272e-03 9.97162890e-01 8.33626582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.342557844 meters Centerline goodness : 0.235152 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.11, Z:0.84 [[ 9.97410311e-01 8.02356096e-03 -7.14723356e-02 -1.28935786e+01] [-8.74347604e-03 9.99914090e-01 -9.76547776e-03 1.13155239e-01] [ 7.13878415e-02 1.03651049e-02 9.97394777e-01 8.36263797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.402557844 meters Centerline goodness : 0.125537 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.11, Z:0.84 [[ 9.97452146e-01 8.04803400e-03 -7.08833250e-02 -1.28953172e+01] [-8.77762354e-03 9.99911599e-01 -9.98735439e-03 1.14729110e-01] [ 7.07966803e-02 1.05840952e-02 9.97434613e-01 8.36531855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.462557844 meters Centerline goodness : 0.127036 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.12, Z:0.84 [[ 9.97467357e-01 7.95562289e-03 -7.06794117e-02 -1.28958190e+01] [-8.69549079e-03 9.99910512e-01 -1.01664296e-02 1.15414632e-01] [ 7.05922065e-02 1.07552738e-02 9.97447274e-01 8.36426028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.522557844 meters Centerline goodness : 0.127286 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.11, Z:0.84 [[ 9.97489721e-01 8.02392845e-03 -7.03553380e-02 -1.28972273e+01] [-8.74616899e-03 9.99912112e-01 -9.96357120e-03 1.14450585e-01] [ 7.02692076e-02 1.05538995e-02 9.97472232e-01 8.37262987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.582557844 meters Centerline goodness : 0.123896 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.12, Z:0.84 [[ 9.97413866e-01 7.96089699e-03 -7.14297131e-02 -1.28935655e+01] [-8.71467113e-03 9.99909520e-01 -1.02472362e-02 1.15532841e-01] [ 7.13416730e-02 1.08432219e-02 9.97392997e-01 8.35819713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.642557844 meters Centerline goodness : 0.122791 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.12, Z:0.84 [[ 9.97419874e-01 8.00213019e-03 -7.13411527e-02 -1.28936476e+01] [-8.76978997e-03 9.99906901e-01 -1.04536804e-02 1.16920958e-01] [ 7.12508592e-02 1.10523555e-02 9.97397193e-01 8.35479280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.702557844 meters Centerline goodness : 0.128509 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.12, Z:0.84 [[ 9.97449710e-01 7.98558238e-03 -7.09246484e-02 -1.28948273e+01] [-8.75182350e-03 9.99906580e-01 -1.04994169e-02 1.17116525e-01] [ 7.08341786e-02 1.10933603e-02 9.97426417e-01 8.35571702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.762557844 meters Centerline goodness : 0.139290 with order 1 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.12, Z:0.84 [[ 9.97430788e-01 7.97671639e-03 -7.11912529e-02 -1.28939172e+01] [-8.73840879e-03 9.99907796e-01 -1.03942134e-02 1.16333441e-01] [ 7.11017771e-02 1.09896067e-02 9.97408525e-01 8.35268412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.822557844 meters Centerline goodness : 0.142742 with order 1 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.11, Z:0.83 [[ 9.97178154e-01 -1.21260235e-03 -7.50617064e-02 -1.29097682e+01] [ 5.25657468e-04 9.99957809e-01 -9.17081535e-03 1.14493868e-01] [ 7.50696600e-02 9.10547997e-03 9.97136719e-01 8.32068703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.882557844 meters Centerline goodness : 0.145194 with order 1 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.11, Z:0.83 [[ 9.97207909e-01 -1.30902960e-03 -7.46637264e-02 -1.29111845e+01] [ 6.62291839e-04 9.99962056e-01 -8.68610911e-03 1.11393195e-01] [ 7.46722637e-02 8.61240753e-03 9.97170938e-01 8.32842839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.942557844 meters Centerline goodness : 0.145829 with order 1 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.10, Z:0.84 [[ 9.97234367e-01 -4.47817983e-03 -7.41860073e-02 -1.29142950e+01] [ 3.69980840e-03 9.99936695e-01 -1.06262661e-02 1.04292141e-01] [ 7.42288973e-02 1.03224037e-02 9.97187805e-01 8.35019415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.002557844 meters Centerline goodness : 0.122847 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.10, Z:0.84 [[ 9.97302223e-01 -1.38264030e-02 -7.20909617e-02 -1.28937437e+01] [ 1.31180263e-02 9.99861003e-01 -1.02903930e-02 1.03161248e-01] [ 7.22232204e-02 9.31694064e-03 9.97344976e-01 8.36330730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.062557844 meters Centerline goodness : 0.122817 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.10, Z:0.84 [[ 9.97270308e-01 -1.78053683e-02 -7.16582267e-02 -1.28951417e+01] [ 1.68927713e-02 9.99768560e-01 -1.33214040e-02 9.83196994e-02] [ 7.18788347e-02 1.20745347e-02 9.97340282e-01 8.36988748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.122557844 meters Centerline goodness : 0.244645 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.09, Z:0.83 [[ 9.97314166e-01 -1.04254853e-02 -7.24966491e-02 -1.29116438e+01] [ 9.41802159e-03 9.99854469e-01 -1.42246816e-02 8.93676682e-02] [ 7.26343978e-02 1.35037014e-02 9.97267213e-01 8.33191150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18255784400003 meters Centerline goodness : 0.127671 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.09, Z:0.83 [[ 9.97268128e-01 -1.03010756e-02 -7.31448440e-02 -1.29096207e+01] [ 9.32523699e-03 9.99863074e-01 -1.36701837e-02 8.60392592e-02] [ 7.32756462e-02 1.29507455e-02 9.97227636e-01 8.32723498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24255784400003 meters Centerline goodness : 0.123949 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.08, Z:0.83 [[ 9.97295431e-01 -1.02769960e-02 -7.27750456e-02 -1.29110363e+01] [ 9.33994417e-03 9.99869193e-01 -1.32046370e-02 8.29945482e-02] [ 7.29012301e-02 1.24892093e-02 9.97260964e-01 8.33452130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30255784400003 meters Centerline goodness : 0.127639 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.08, Z:0.83 [[ 0.9972705 -0.01404675 -0.07248612 -12.91117369] [ 0.01292301 0.9997893 -0.01594862 0.07784097] [ 0.07269487 0.01496835 0.9972419 0.83288371] [ 0. 0. 0. 1. ]] SLAMing on 363.36255784400004 meters Centerline goodness : 0.133602 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.07, Z:0.83 [[ 0.99717861 -0.01795185 -0.07288719 -12.90893718] [ 0.01661967 0.99968432 -0.01884292 0.07247941] [ 0.07320245 0.0175784 0.99716217 0.8315658 ] [ 0. 0. 0. 1. ]] SLAMing on 363.422557844 meters Centerline goodness : 0.221843 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.05, Z:0.83 [[ 0.99694872 -0.02645757 -0.07343871 -12.96672837] [ 0.02525086 0.99953124 -0.01731175 0.05441314] [ 0.07386231 0.01540453 0.99714947 0.82559453] [ 0. 0. 0. 1. ]] SLAMing on 363.482557844 meters Centerline goodness : 0.151433 with order 2 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.05, Z:0.83 [[ 0.99695871 -0.02653323 -0.07327558 -12.96764874] [ 0.02539894 0.99954338 -0.01636869 0.0498563 ] [ 0.07367644 0.01445778 0.99717739 0.82564032] [ 0. 0. 0. 1. ]] SLAMing on 363.542557844 meters Centerline goodness : 0.217387 with order 3 Centerline is valid? [False, False] Translation: X:-12.99, Y:0.04, Z:0.82 [[ 0.99728229 -0.01736798 -0.07159884 -12.98630003] [ 0.01625108 0.99973746 -0.01615254 0.03990589] [ 0.07186058 0.01494509 0.99730271 0.8229399 ] [ 0. 0. 0. 1. ]] SLAMing on 363.602557844 meters Centerline goodness : 0.155299 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.04, Z:0.82 [[ 9.97548584e-01 -8.30039478e-03 -6.94832816e-02 -1.29673123e+01] [ 7.18916724e-03 9.99842479e-01 -1.62275539e-02 3.50445119e-02] [ 6.96070316e-02 1.56882465e-02 9.97451122e-01 8.24448049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.662557844 meters Centerline goodness : 0.135549 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.03, Z:0.82 [[ 9.97544506e-01 -8.77493934e-03 -6.94835151e-02 -1.29670834e+01] [ 7.66368236e-03 9.99838694e-01 -1.62435601e-02 3.34694336e-02] [ 6.96148432e-02 1.56711746e-02 9.97450845e-01 8.23782182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.722557844 meters Centerline goodness : 0.136062 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.03, Z:0.82 [[ 9.97464615e-01 -8.34061857e-03 -7.06737313e-02 -1.29636536e+01] [ 7.28283156e-03 9.99857773e-01 -1.52116707e-02 3.01886172e-02] [ 7.07905543e-02 1.46583984e-02 9.97383491e-01 8.22468764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.782557844 meters Centerline goodness : 0.162910 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.03, Z:0.82 [[ 9.97431254e-01 -8.94729239e-03 -7.10692636e-02 -1.29630552e+01] [ 7.93621059e-03 9.99863427e-01 -1.44963644e-02 2.55457163e-02] [ 7.11892606e-02 1.38951063e-02 9.97366039e-01 8.21464404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.842557844 meters Centerline goodness : 0.156848 with order 2 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.03, Z:0.82 [[ 0.99747018 -0.01867614 -0.06858887 -12.94334729] [ 0.01770341 0.99973429 -0.01476263 0.02650559] [ 0.06884635 0.01351103 0.99753578 0.82303639] [ 0. 0. 0. 1. ]] SLAMing on 363.902557844 meters Centerline goodness : 0.240182 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:0.02, Z:0.82 [[ 9.97519143e-01 -1.90875585e-02 -6.77585754e-02 -1.29456855e+01] [ 1.81871534e-02 9.99738244e-01 -1.38805834e-02 2.33505424e-02] [ 6.80057856e-02 1.26138121e-02 9.97605185e-01 8.21762591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.962557844 meters Centerline goodness : 0.142801 with order 2 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.02, Z:0.82 [[ 9.97810085e-01 -1.30309771e-02 -6.48477332e-02 -1.29647548e+01] [ 1.19798771e-02 9.99790916e-01 -1.65712869e-02 1.80729425e-02] [ 6.50501146e-02 1.57581293e-02 9.97757568e-01 8.18806690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.022557844 meters Centerline goodness : 0.135203 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.02, Z:0.82 [[ 9.97869703e-01 -1.03459028e-02 -6.44128709e-02 -1.29669624e+01] [ 9.46662917e-03 9.99858007e-01 -1.39408682e-02 2.00764830e-02] [ 6.45479556e-02 1.33013973e-02 9.97825954e-01 8.19496382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.082557844 meters Centerline goodness : 0.203388 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.02, Z:0.82 [[ 9.97835627e-01 -1.05350932e-02 -6.49081891e-02 -1.29651078e+01] [ 9.62601492e-03 9.99851379e-01 -1.43024601e-02 2.20558123e-02] [ 6.50492201e-02 1.36466970e-02 9.97788738e-01 8.18590537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.142557844 meters Centerline goodness : 0.144324 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.03, Z:0.82 [[ 9.97885655e-01 -6.79090443e-03 -6.46382418e-02 -1.29666220e+01] [ 6.08405396e-03 9.99919594e-01 -1.11260488e-02 2.62029609e-02] [ 6.47086004e-02 1.07092619e-02 9.97846736e-01 8.19738675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.202557844 meters Centerline goodness : 0.236610 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.03, Z:0.82 [[ 9.97890428e-01 -3.03582945e-03 -6.48496480e-02 -1.29662291e+01] [ 2.51883949e-03 9.99964406e-01 -8.05240419e-03 3.06493384e-02] [ 6.48717855e-02 7.87207121e-03 9.97862557e-01 8.19893709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.262557844 meters Centerline goodness : 0.144131 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.04, Z:0.82 [[ 9.97839246e-01 5.77889298e-05 -6.57026309e-02 -1.29617746e+01] [-4.67263233e-04 9.99980566e-01 -6.21688629e-03 4.05463790e-02] [ 6.57009948e-02 6.23415355e-03 9.97819881e-01 8.17257263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.322557844 meters Centerline goodness : 0.136195 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.05, Z:0.82 [[ 9.97784480e-01 2.46648548e-03 -6.64834483e-02 -1.29583457e+01] [-2.78337684e-03 9.99985202e-01 -4.67426462e-03 4.73875498e-02] [ 6.64709355e-02 4.84895718e-03 9.97776579e-01 8.15901207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.382557844 meters Centerline goodness : 0.174233 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.05, Z:0.82 [[ 9.97738501e-01 6.08865769e-03 -6.69388727e-02 -1.29574717e+01] [-6.24962378e-03 9.99978061e-01 -2.19552774e-03 5.44992212e-02] [ 6.69240362e-02 2.60890532e-03 9.97754663e-01 8.16308430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.442557844 meters Centerline goodness : 0.148797 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.06, Z:0.82 [[ 9.97721683e-01 6.00671853e-03 -6.71964435e-02 -1.29566607e+01] [-6.21897545e-03 9.99976311e-01 -2.95001361e-03 5.88318645e-02] [ 6.71771317e-02 3.36118558e-03 9.97735404e-01 8.16023388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.502557844 meters Centerline goodness : 0.232401 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.06, Z:0.82 [[ 9.97749102e-01 8.64473627e-03 -6.64981044e-02 -1.29607038e+01] [-8.72719162e-03 9.99961466e-01 -9.49567576e-04 6.37380996e-02] [ 6.64873333e-02 1.52777190e-03 9.97786100e-01 8.18394490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.562557844 meters Centerline goodness : 0.158888 with order 3 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.07, Z:0.82 [[ 9.97842871e-01 7.62023225e-04 -6.56431598e-02 -1.29408202e+01] [-7.66969392e-04 9.99999705e-01 -5.01490086e-05 6.59524424e-02] [ 6.56431022e-02 1.00387125e-04 9.97843161e-01 8.20553208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.622557844 meters Centerline goodness : 0.130921 with order 3 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.07, Z:0.82 [[ 9.97845955e-01 7.65849494e-04 -6.55962190e-02 -1.29409137e+01] [-7.72371682e-04 9.99999699e-01 -7.40697402e-05 6.60699662e-02] [ 6.55961426e-02 1.24574853e-04 9.97846246e-01 8.20519600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68255784400003 meters Centerline goodness : 0.131196 with order 3 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.07, Z:0.82 [[ 9.97827042e-01 4.80178268e-03 -6.57125268e-02 -1.29407974e+01] [-4.57600938e-03 9.99983101e-01 3.58585549e-03 6.67466267e-02] [ 6.57286348e-02 -3.27736243e-03 9.97832153e-01 8.20741074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74255784400003 meters Centerline goodness : 0.142578 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.07, Z:0.82 [[ 9.97689512e-01 1.58839317e-02 -6.60555635e-02 -1.29163388e+01] [-1.56554052e-02 9.99869542e-01 3.97583335e-03 7.08913024e-02] [ 6.61100979e-02 -2.93252062e-03 9.97808025e-01 8.21145082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80255784400003 meters Centerline goodness : 0.149853 with order 2 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.08, Z:0.82 [[ 9.97680516e-01 1.57777662e-02 -6.62166965e-02 -1.29159769e+01] [-1.56037819e-02 9.99873311e-01 3.14389183e-03 7.54322201e-02] [ 6.62579112e-02 -2.10336873e-03 9.97800313e-01 8.21129309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86255784400004 meters Centerline goodness : 0.195110 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.09, Z:0.82 [[ 9.97871778e-01 8.45912019e-03 -6.46556809e-02 -1.28997511e+01] [-8.17120515e-03 9.99955493e-01 4.71619329e-03 8.53858389e-02] [ 6.46926981e-02 -4.17784135e-03 9.97896488e-01 8.24288884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.922557844 meters Centerline goodness : 0.148577 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.09, Z:0.82 [[ 9.97872049e-01 8.10702554e-03 -6.46965917e-02 -1.28997416e+01] [-7.84459166e-03 9.99959945e-01 4.30937785e-03 8.66453647e-02] [ 6.47289365e-02 -3.79268937e-03 9.97895676e-01 8.24410101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.982557844 meters Centerline goodness : 0.149489 with order 2 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.09, Z:0.83 [[ 9.97922356e-01 7.37778211e-05 -6.44279954e-02 -1.28793402e+01] [ 2.70376716e-04 9.99985743e-01 5.33295714e-03 9.11628599e-02] [ 6.44274703e-02 -5.33929699e-03 9.97908108e-01 8.27007119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.042557844 meters Centerline goodness : 0.154083 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.09, Z:0.83 [[ 9.97959735e-01 -8.19053957e-04 -6.38411846e-02 -1.28811803e+01] [ 1.14701948e-03 9.99986333e-01 5.10072757e-03 8.99458924e-02] [ 6.38361343e-02 -5.16354782e-03 9.97947036e-01 8.27645537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.102557844 meters Centerline goodness : 0.142694 with order 2 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.09, Z:0.83 [[ 9.97968478e-01 -6.89771512e-04 -6.37058951e-02 -1.28814568e+01] [ 1.03598709e-03 9.99984874e-01 5.40171964e-03 8.88326606e-02] [ 6.37012055e-02 -5.45674442e-03 9.97954097e-01 8.27526758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.162557844 meters Centerline goodness : 0.145510 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.09, Z:0.83 [[ 9.98070826e-01 6.72989133e-04 -6.20819897e-02 -1.28379745e+01] [-3.28085618e-04 9.99984458e-01 5.56563976e-03 8.95718361e-02] [ 6.20847704e-02 -5.53453446e-03 9.98055535e-01 8.29755744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.222557844 meters Centerline goodness : 0.130083 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.09, Z:0.83 [[ 9.98046233e-01 9.21120393e-03 -6.17970095e-02 -1.28178752e+01] [-8.95887304e-03 9.99950367e-01 4.35906637e-03 8.52261447e-02] [ 6.18340946e-02 -3.79691821e-03 9.98079219e-01 8.32381918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.282557844 meters Centerline goodness : 0.143430 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.08, Z:0.83 [[ 9.98021328e-01 9.46870889e-03 -6.21592438e-02 -1.28164504e+01] [-9.19163972e-03 9.99946513e-01 4.74185218e-03 8.37984661e-02] [ 6.22008183e-02 -4.16112424e-03 9.98054980e-01 8.31717322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.342557844 meters Centerline goodness : 0.178172 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.09, Z:0.83 [[ 9.98130487e-01 1.74926312e-03 -6.10939522e-02 -1.27971363e+01] [-1.40263859e-03 9.99982680e-01 5.71605657e-03 8.51869887e-02] [ 6.11028929e-02 -5.61967759e-03 9.98115652e-01 8.34043283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.402557844 meters Centerline goodness : 0.144133 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.08, Z:0.83 [[ 9.98150925e-01 1.94185094e-03 -6.07532673e-02 -1.27983724e+01] [-1.57869184e-03 9.99980603e-01 6.02503490e-03 8.39060422e-02] [ 6.07637886e-02 -5.91798347e-03 9.98134630e-01 8.34595629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.462557844 meters Centerline goodness : 0.142709 with order 3 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.08, Z:0.84 [[ 9.98136334e-01 7.97665723e-03 -6.04998496e-02 -1.27756052e+01] [-7.80362152e-03 9.99964759e-01 3.09584147e-03 7.82918426e-02] [ 6.05224120e-02 -2.61795393e-03 9.98163405e-01 8.35233261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.522557844 meters Centerline goodness : 0.146210 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.08, Z:0.83 [[ 9.98095322e-01 8.07269109e-03 -6.11601242e-02 -1.27732787e+01] [-7.87333218e-03 9.99962880e-01 3.49991801e-03 7.57958249e-02] [ 6.11861077e-02 -3.01171782e-03 9.98121831e-01 8.34288126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.582557844 meters Centerline goodness : 0.151886 with order 2 Centerline is valid? [False, False] Translation: X:-12.75, Y:0.08, Z:0.84 [[ 9.98223760e-01 7.53612402e-04 -5.95714432e-02 -1.27548490e+01] [-4.52925393e-04 9.99987091e-01 5.06084405e-03 7.74251661e-02] [ 5.95744882e-02 -5.02487336e-03 9.98211216e-01 8.36936650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.642557844 meters Centerline goodness : 0.138465 with order 3 Centerline is valid? [False, False] Translation: X:-12.76, Y:0.08, Z:0.84 [[ 9.98236008e-01 8.52494953e-04 -5.93645127e-02 -1.27555442e+01] [-5.40417427e-04 9.99985953e-01 5.27282763e-03 7.63447949e-02] [ 5.93681738e-02 -5.23144479e-03 9.98222446e-01 8.37231473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.702557844 meters Centerline goodness : 0.145509 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.07, Z:0.83 [[ 9.98040237e-01 8.49526519e-03 -6.19960996e-02 -1.27725424e+01] [-8.24948211e-03 9.99957070e-01 4.21938504e-03 6.77032614e-02] [ 6.20292829e-02 -3.69968033e-03 9.98067473e-01 8.33771135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.762557844 meters Centerline goodness : 0.134563 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.07, Z:0.83 [[ 9.98053361e-01 8.67926142e-03 -6.17588809e-02 -1.27733507e+01] [-8.42276288e-03 9.99954793e-01 4.41235731e-03 6.71633852e-02] [ 6.17943850e-02 -3.88358763e-03 9.98081345e-01 8.34206256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.822557844 meters Centerline goodness : 0.140270 with order 3 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.07, Z:0.83 [[ 9.98100515e-01 9.26249019e-03 -6.09062180e-02 -1.27757670e+01] [-9.00787652e-03 9.99949510e-01 4.45367226e-03 6.87852436e-02] [ 6.09443950e-02 -3.89657689e-03 9.98133557e-01 8.34778159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.882557844 meters Centerline goodness : 0.147849 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.07, Z:0.83 [[ 9.98058582e-01 1.02010310e-02 -6.14410722e-02 -1.27734996e+01] [-9.93174170e-03 9.99939696e-01 4.68669811e-03 7.11016117e-02] [ 6.14851762e-02 -4.06738241e-03 9.98099709e-01 8.33710228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.942557844 meters Centerline goodness : 0.112778 with order 2 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.08, Z:0.83 [[ 9.98049871e-01 1.29905954e-02 -6.10548930e-02 -1.27752805e+01] [-1.26317534e-02 9.99900623e-01 6.25968826e-03 7.88414947e-02] [ 6.11301426e-02 -5.47625071e-03 9.98114781e-01 8.34798531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.002557844 meters Centerline goodness : 0.127356 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.08, Z:0.83 [[ 9.98000854e-01 1.32276515e-02 -6.18006912e-02 -1.27728994e+01] [-1.28985252e-02 9.99900441e-01 5.72154459e-03 8.35278869e-02] [ 6.18702210e-02 -4.91296861e-03 9.98072111e-01 8.33981342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.062557844 meters Centerline goodness : 0.126477 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.09, Z:0.83 [[ 9.97969621e-01 1.29576517e-02 -6.23597287e-02 -1.27703117e+01] [-1.26583048e-02 9.99906396e-01 5.19301814e-03 8.57448638e-02] [ 6.24211809e-02 -4.39310589e-03 9.98040228e-01 8.32244066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.122557844 meters Centerline goodness : 0.145972 with order 3 Centerline is valid? [False, False] Translation: X:-12.77, Y:0.08, Z:0.83 [[ 9.98045283e-01 1.03170350e-02 -6.16374243e-02 -1.27740084e+01] [-1.01578578e-02 9.99944216e-01 2.89527803e-03 8.43232361e-02] [ 6.16638566e-02 -2.26351439e-03 9.98094407e-01 8.33795214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18255784400003 meters Centerline goodness : 0.144990 with order 1 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.09, Z:0.83 [[ 9.98091134e-01 1.22676310e-03 -6.17461201e-02 -1.27957943e+01] [-9.89329666e-04 9.99992000e-01 3.87574333e-03 8.66544599e-02] [ 6.17503808e-02 -3.80725779e-03 9.98084363e-01 8.32056261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24255784400003 meters Centerline goodness : 0.127270 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.09, Z:0.83 [[ 9.98095980e-01 1.36229438e-03 -6.16648978e-02 -1.27958960e+01] [-1.10612621e-03 9.99990618e-01 4.18814407e-03 8.50655044e-02] [ 6.16700248e-02 -4.11196059e-03 9.98088122e-01 8.31940619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30255784400003 meters Centerline goodness : 0.127860 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.08, Z:0.83 [[ 9.98080044e-01 1.59297310e-03 -6.19167896e-02 -1.27953727e+01] [-1.31706540e-03 9.99989023e-01 4.49666284e-03 8.37014090e-02] [ 6.19232729e-02 -4.40648098e-03 9.98071185e-01 8.32145033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36255784400004 meters Centerline goodness : 0.129128 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.08, Z:0.83 [[ 9.97971637e-01 9.55620082e-03 -6.29387855e-02 -1.28150446e+01] [-9.36218963e-03 9.99950472e-01 3.37673837e-03 7.88731481e-02] [ 6.29679371e-02 -2.78064427e-03 9.98011677e-01 8.29176382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.422557844 meters Centerline goodness : 0.126723 with order 3 Centerline is valid? [False, False] Translation: X:-12.78, Y:0.08, Z:0.83 [[ 9.98160075e-01 1.31595853e-02 -5.91885933e-02 -1.27768244e+01] [-1.28666464e-02 9.99903028e-01 5.32765644e-03 8.31893440e-02] [ 5.92529634e-02 -4.55629525e-03 9.98232601e-01 8.32821295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.482557844 meters Centerline goodness : 0.132886 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.09, Z:0.83 [[ 9.98333075e-01 5.10060017e-03 -5.74896179e-02 -1.27988653e+01] [-4.75241819e-03 9.99969539e-01 6.19152743e-03 8.97397654e-02] [ 5.75194473e-02 -5.90799191e-03 9.98326905e-01 8.30423349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.542557844 meters Centerline goodness : 0.140533 with order 3 Centerline is valid? [False, False] Translation: X:-12.80, Y:0.09, Z:0.83 [[ 9.98337717e-01 4.95833041e-03 -5.74213966e-02 -1.27989470e+01] [-4.63192626e-03 9.99972359e-01 5.81606664e-03 9.15852822e-02] [ 5.74486474e-02 -5.54042702e-03 9.98333089e-01 8.30157959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.602557844 meters Centerline goodness : 0.129365 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.83 [[ 9.98336116e-01 -3.62235634e-03 -5.75489134e-02 -1.28199762e+01] [ 4.01849016e-03 9.99969014e-01 6.76919414e-03 9.71712848e-02] [ 5.75226098e-02 -6.98919073e-03 9.98319739e-01 8.28002263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.662557844 meters Centerline goodness : 0.132923 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.83 [[ 9.98358902e-01 -3.68903042e-03 -5.71480046e-02 -1.28210067e+01] [ 4.07136878e-03 9.99970094e-01 6.57533327e-03 9.83551973e-02] [ 5.71220390e-02 -6.79721310e-03 9.98344064e-01 8.27940344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.722557844 meters Centerline goodness : 0.205206 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.83 [[ 9.98315391e-01 -3.94566290e-03 -5.78861985e-02 -1.28185031e+01] [ 4.31464743e-03 9.99971156e-01 6.25071008e-03 9.91212068e-02] [ 5.78598656e-02 -6.48993861e-03 9.98303619e-01 8.26977269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.782557844 meters Centerline goodness : 0.134208 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.83 [[ 9.98332396e-01 -4.03280188e-03 -5.75861372e-02 -1.28197214e+01] [ 4.38398195e-03 9.99972550e-01 5.97331311e-03 1.01023042e-01] [ 5.75604673e-02 -6.21580857e-03 9.98322671e-01 8.27516726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.842557844 meters Centerline goodness : 0.141755 with order 3 Centerline is valid? [False, False] Translation: X:-12.82, Y:0.10, Z:0.83 [[ 9.98365150e-01 -4.18091680e-03 -5.70048045e-02 -1.28218535e+01] [ 4.51760140e-03 9.99973099e-01 5.77866155e-03 1.01553017e-01] [ 5.69791109e-02 -6.02673928e-03 9.98357180e-01 8.28519034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.902557844 meters Centerline goodness : 0.147980 with order 1 Centerline is valid? [False, False] Translation: X:-12.86, Y:0.10, Z:0.82 [[ 9.98108026e-01 -4.87840251e-03 -6.12908679e-02 -1.28605590e+01] [ 5.25566410e-03 9.99968215e-01 5.99555989e-03 1.00154634e-01] [ 6.12596710e-02 -6.30634065e-03 9.98101940e-01 8.24660871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.962557844 meters Centerline goodness : 0.132076 with order 3 Centerline is valid? [False, False] Translation: X:-12.84, Y:0.10, Z:0.83 [[ 9.98108606e-01 3.51082934e-03 -6.13749532e-02 -1.28394458e+01] [-3.20572120e-03 9.99982014e-01 5.06897781e-03 9.79455070e-02] [ 6.13916456e-02 -4.86263939e-03 9.98101909e-01 8.26245867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.022557844 meters Centerline goodness : 0.136709 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.10, Z:0.83 [[ 9.97982222e-01 2.79622161e-03 -6.34323735e-02 -1.28867281e+01] [-2.46373727e-03 9.99982818e-01 5.31916979e-03 9.60744254e-02] [ 6.34461572e-02 -5.15215618e-03 9.97971964e-01 8.25294095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.082557844 meters Centerline goodness : 0.143495 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.10, Z:0.82 [[ 9.97963759e-01 2.53379744e-03 -6.37331580e-02 -1.28854081e+01] [-2.23853428e-03 9.99986432e-01 4.70378353e-03 9.86027990e-02] [ 6.37442117e-02 -4.55153663e-03 9.97955890e-01 8.24338593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.142557844 meters Centerline goodness : 0.120649 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.10, Z:0.82 [[ 9.97942981e-01 6.66889372e-03 -6.37599584e-02 -1.28852370e+01] [-6.16872479e-03 9.99948666e-01 8.03820740e-03 1.03113857e-01] [ 6.38102913e-02 -7.62835502e-03 9.97932891e-01 8.24044591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.202557844 meters Centerline goodness : 0.125548 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.11, Z:0.82 [[ 9.98005992e-01 6.63029109e-03 -6.27700479e-02 -1.28881629e+01] [-6.18080351e-03 9.99953869e-01 7.35233293e-03 1.07396786e-01] [ 6.28159004e-02 -6.94970299e-03 9.98000934e-01 8.24536327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.262557844 meters Centerline goodness : 0.129143 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.12, Z:0.83 [[ 9.97986708e-01 -1.39598477e-04 -6.34232754e-02 -1.28702849e+01] [ 6.60704424e-04 9.99966199e-01 8.19542148e-03 1.17399279e-01] [ 6.34199876e-02 -8.22082574e-03 9.97953067e-01 8.26977797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.322557844 meters Centerline goodness : 0.131978 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.12, Z:0.83 [[ 9.98018389e-01 -5.44898387e-04 -6.29205642e-02 -1.28719504e+01] [ 1.00926377e-03 9.99972489e-01 7.34863729e-03 1.21526752e-01] [ 6.29148290e-02 -7.39757860e-03 9.97991483e-01 8.27381069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.382557844 meters Centerline goodness : 0.132816 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.12, Z:0.83 [[ 9.98017386e-01 -8.65980106e-04 -6.29328829e-02 -1.28722678e+01] [ 1.28837111e-03 9.99976915e-01 6.67149877e-03 1.24710187e-01] [ 6.29256527e-02 -6.73935267e-03 9.97995463e-01 8.27796067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.442557844 meters Centerline goodness : 0.137280 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.13, Z:0.83 [[ 9.98004926e-01 -1.08722417e-03 -6.31267443e-02 -1.28710730e+01] [ 1.48098157e-03 9.99979738e-01 6.19111224e-03 1.27002618e-01] [ 6.31187341e-02 -6.27225006e-03 9.97986315e-01 8.26666234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.502557844 meters Centerline goodness : 0.403923 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.13, Z:0.83 [[ 9.98021171e-01 -1.18425529e-03 -6.28676397e-02 -1.28716611e+01] [ 1.56363466e-03 9.99980863e-01 5.98571649e-03 1.27934525e-01] [ 6.28593480e-02 -6.07217380e-03 9.98003923e-01 8.26478729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.562557844 meters Centerline goodness : 0.141030 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.13, Z:0.83 [[ 9.98023957e-01 -1.20142230e-03 -6.28230756e-02 -1.28719739e+01] [ 1.58527693e-03 9.99980378e-01 6.06060152e-03 1.27096475e-01] [ 6.28145615e-02 -6.14821748e-03 9.98006278e-01 8.26782492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.622557844 meters Centerline goodness : 0.152744 with order 1 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.12, Z:0.83 [[ 9.98007493e-01 -1.12292719e-03 -6.30855180e-02 -1.28704911e+01] [ 1.53572462e-03 9.99977726e-01 6.49534979e-03 1.24232212e-01] [ 6.30768190e-02 -6.57928975e-03 9.97986988e-01 8.25632304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68255784400003 meters Centerline goodness : 0.216696 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.12, Z:0.83 [[ 9.97998142e-01 -9.19668938e-04 -6.32365614e-02 -1.28699652e+01] [ 1.36010118e-03 9.99975117e-01 6.92214102e-03 1.22179170e-01] [ 6.32286217e-02 -6.99429199e-03 9.97974559e-01 8.25488783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74255784400003 meters Centerline goodness : 0.133739 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.12, Z:0.82 [[ 9.97970551e-01 -8.02600116e-04 -6.36720982e-02 -1.28684201e+01] [ 1.26501197e-03 9.99973118e-01 7.22241244e-03 1.20523443e-01] [ 6.36645899e-02 -7.28830088e-03 9.97944738e-01 8.24841699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80255784400003 meters Centerline goodness : 0.132647 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.12, Z:0.82 [[ 9.97975069e-01 -4.94993842e-04 -6.36043804e-02 -1.28684976e+01] [ 1.01134250e-03 9.99966795e-01 8.08619141e-03 1.15982968e-01] [ 6.35982658e-02 -8.13414324e-03 9.97942431e-01 8.24816285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86255784400004 meters Centerline goodness : 0.137116 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.11, Z:0.83 [[ 9.98058031e-01 -2.40507362e-03 -6.22445443e-02 -1.28738304e+01] [ 2.83384461e-03 9.99972857e-01 6.80112671e-03 1.11665817e-01] [ 6.22264975e-02 -6.96431049e-03 9.98037755e-01 8.26805098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.922557844 meters Centerline goodness : 0.135035 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.10, Z:0.82 [[ 9.97944551e-01 2.11516431e-03 -6.40484149e-02 -1.28941319e+01] [-1.90892910e-03 9.99992795e-01 3.28101283e-03 1.02811017e-01] [ 6.40548933e-02 -3.15200499e-03 9.97941399e-01 8.24656645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.982557844 meters Centerline goodness : 0.131355 with order 3 Centerline is valid? [False, False] Translation: X:-12.87, Y:0.10, Z:0.83 [[ 9.97865182e-01 1.07226554e-02 -6.44212909e-02 -1.28730757e+01] [-1.05723485e-02 9.99940537e-01 2.67364086e-03 9.74940006e-02] [ 6.44461287e-02 -1.98684879e-03 9.97919210e-01 8.26704374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.042557844 meters Centerline goodness : 0.132728 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.10, Z:0.83 [[ 9.97980775e-01 2.02944990e-03 -6.34842844e-02 -1.28954330e+01] [-1.82002768e-03 9.99992711e-01 3.35646031e-03 9.96656628e-02] [ 6.34906334e-02 -3.23413970e-03 9.97977194e-01 8.25249914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.102557844 meters Centerline goodness : 0.133866 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.10, Z:0.82 [[ 9.97991925e-01 2.06614167e-03 -6.33075726e-02 -1.28953006e+01] [-1.86158993e-03 9.99992856e-01 3.28989380e-03 1.00295267e-01] [ 6.33139177e-02 -3.16543471e-03 9.97988641e-01 8.24333373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.162557844 meters Centerline goodness : 0.134166 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.10, Z:0.83 [[ 9.98034393e-01 1.94590862e-03 -6.26383579e-02 -1.28977132e+01] [-1.74777170e-03 9.99993295e-01 3.21782555e-03 1.00224656e-01] [ 6.26441995e-02 -3.10202302e-03 9.98031103e-01 8.25380936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.222557844 meters Centerline goodness : 0.134457 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.10, Z:0.83 [[ 9.98021111e-01 1.97929256e-03 -6.28485902e-02 -1.28973001e+01] [-1.76455540e-03 9.99992416e-01 3.47205898e-03 9.88815696e-02] [ 6.28549858e-02 -3.35428834e-03 9.98017034e-01 8.25591352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.282557844 meters Centerline goodness : 0.135109 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.10, Z:0.83 [[ 9.98005629e-01 -2.09323028e-03 -6.30902690e-02 -1.28964082e+01] [ 2.10510547e-03 9.99997777e-01 1.21753760e-04 9.53726316e-02] [ 6.30898739e-02 -2.54322608e-04 9.98007817e-01 8.25283849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.342557844 meters Centerline goodness : 0.136835 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.09, Z:0.83 [[ 9.98064835e-01 -4.13804983e-03 -6.20440346e-02 -1.28995669e+01] [ 4.10029338e-03 9.99991323e-01 -7.35852979e-04 8.67339075e-02] [ 6.20465412e-02 4.80030238e-04 9.98073142e-01 8.26118653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.402557844 meters Centerline goodness : 0.142755 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.08, Z:0.83 [[ 9.98042810e-01 -3.99441438e-03 -6.24066769e-02 -1.28983018e+01] [ 3.98211151e-03 9.99992020e-01 -3.21515978e-04 8.44442511e-02] [ 6.24074631e-02 7.23763637e-05 9.98050752e-01 8.25661000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.462557844 meters Centerline goodness : 0.146566 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.08, Z:0.82 [[ 9.97986992e-01 -3.87400632e-03 -6.33005173e-02 -1.28952945e+01] [ 3.89243828e-03 9.99992410e-01 1.67863694e-04 8.10252188e-02] [ 6.32993865e-02 -4.13919140e-04 9.97994497e-01 8.24742250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.522557844 meters Centerline goodness : 0.144647 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.07, Z:0.82 [[ 9.97879680e-01 4.90589241e-03 -6.49005153e-02 -1.29145903e+01] [-4.91677893e-03 9.99987913e-01 -8.02254108e-06 7.47165673e-02] [ 6.48996915e-02 3.27107017e-04 9.97891739e-01 8.21839760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.582557844 meters Centerline goodness : 0.145740 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.08, Z:0.82 [[ 9.97944904e-01 5.53370369e-03 -6.38384398e-02 -1.29175524e+01] [-5.52575334e-03 9.99984688e-01 3.01097077e-04 7.52916519e-02] [ 6.38391285e-02 5.22771782e-05 9.97960201e-01 8.22210695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.642557844 meters Centerline goodness : 0.146076 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.08, Z:0.82 [[ 9.97949942e-01 6.23552778e-03 -6.36948256e-02 -1.29181041e+01] [-6.24203543e-03 9.99980514e-01 9.68269115e-05 7.94102427e-02] [ 6.36941881e-02 3.00956947e-04 9.97969418e-01 8.22076115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.702557844 meters Centerline goodness : 0.184000 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.08, Z:0.82 [[ 9.97999878e-01 6.59259622e-03 -6.28711494e-02 -1.29201081e+01] [-6.62440180e-03 9.99978014e-01 -2.97448274e-04 8.37261013e-02] [ 6.28678062e-02 7.13337096e-04 9.98021608e-01 8.21735365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.762557844 meters Centerline goodness : 0.139559 with order 1 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.09, Z:0.82 [[ 9.98003909e-01 5.98731239e-03 -6.28677175e-02 -1.29201087e+01] [-6.10662558e-03 9.99979899e-01 -1.70586994e-03 9.03606467e-02] [ 6.28562402e-02 2.08637448e-03 9.98020411e-01 8.21496008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.822557844 meters Centerline goodness : 0.121990 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.09, Z:0.82 [[ 9.98011886e-01 5.63297521e-03 -6.27737678e-02 -1.29207466e+01] [-5.79600228e-03 9.99980286e-01 -2.41526036e-03 9.41831217e-02] [ 6.27589252e-02 2.77429545e-03 9.98024860e-01 8.21973620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.882557844 meters Centerline goodness : 0.119554 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.10, Z:0.82 [[ 9.98103752e-01 -3.96709000e-03 -6.14260735e-02 -1.29010656e+01] [ 3.80420625e-03 9.99988932e-01 -2.76842626e-03 9.84375617e-02] [ 6.14363763e-02 2.52949918e-03 9.98107796e-01 8.23750355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.942557844 meters Centerline goodness : 0.122384 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.09, Z:0.82 [[ 9.98121508e-01 -6.54906389e-03 -6.09144077e-02 -1.29033839e+01] [ 6.28811009e-03 9.99970218e-01 -4.47465433e-03 9.42610796e-02] [ 6.09418984e-02 4.08321222e-03 9.98132963e-01 8.24981891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.002557844 meters Centerline goodness : 0.140651 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.09, Z:0.83 [[ 9.98073043e-01 -6.89006750e-03 -6.16662654e-02 -1.29013599e+01] [ 6.64485571e-03 9.99969184e-01 -4.18062969e-03 9.06855023e-02] [ 6.16931699e-02 3.76281036e-03 9.98088069e-01 8.25010412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.062557844 meters Centerline goodness : 0.146271 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.09, Z:0.82 [[ 9.98036864e-01 -1.06823106e-02 -6.17114697e-02 -1.29008174e+01] [ 1.02601680e-02 9.99921776e-01 -7.15343632e-03 8.60761949e-02] [ 6.17830576e-02 6.50622311e-03 9.98068396e-01 8.24652952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.122557844 meters Centerline goodness : 0.134596 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.08, Z:0.82 [[ 9.98027968e-01 -1.04189826e-02 -6.19000786e-02 -1.28999257e+01] [ 1.00264123e-02 9.99927627e-01 -6.64924244e-03 8.38376996e-02] [ 6.19648770e-02 6.01549421e-03 9.98060203e-01 8.24092886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18255784400003 meters Centerline goodness : 0.125764 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.08, Z:0.83 [[ 9.98144032e-01 -4.23062732e-04 -6.08959116e-02 -1.28803600e+01] [-3.61178123e-06 9.99975455e-01 -7.00633941e-03 8.05389048e-02] [ 6.08973811e-02 6.99355582e-03 9.98119531e-01 8.26270030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24255784400003 meters Centerline goodness : 0.121866 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.08, Z:0.83 [[ 9.98162397e-01 6.51594407e-04 -6.05921206e-02 -1.28812830e+01] [-1.04649954e-03 9.99978419e-01 -6.48592819e-03 8.17382969e-02] [ 6.05865868e-02 6.53741925e-03 9.98141537e-01 8.26210717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30255784400003 meters Centerline goodness : 0.126856 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.08, Z:0.83 [[ 9.98142615e-01 7.47743630e-04 -6.09160127e-02 -1.28800923e+01] [-1.16908801e-03 9.99975639e-01 -6.88146078e-03 8.38841952e-02] [ 6.09093832e-02 6.93989544e-03 9.98119174e-01 8.25469896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36255784400004 meters Centerline goodness : 0.121762 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.08, Z:0.83 [[ 9.98127821e-01 6.35266805e-04 -6.11592087e-02 -1.28795083e+01] [-1.05090778e-03 9.99976571e-01 -6.76412240e-03 8.27231941e-02] [ 6.11534788e-02 6.81573145e-03 9.98105104e-01 8.25489940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.422557844 meters Centerline goodness : 0.131543 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.08, Z:0.83 [[ 9.98143800e-01 -2.42525841e-03 -6.08528707e-02 -1.28814574e+01] [ 1.89106511e-03 9.99959187e-01 -8.83449715e-03 7.75111002e-02] [ 6.08718130e-02 8.70302181e-03 9.98107649e-01 8.26862173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.482557844 meters Centerline goodness : 0.113833 with order 2 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.07, Z:0.83 [[ 9.98115300e-01 -6.48674516e-03 -6.10227030e-02 -1.28810470e+01] [ 5.75053051e-03 9.99908645e-01 -1.22324977e-02 7.44923066e-02] [ 6.10964773e-02 1.18585302e-02 9.98061419e-01 8.26972079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.542557844 meters Centerline goodness : 0.126861 with order 3 Centerline is valid? [False, False] Translation: X:-12.88, Y:0.07, Z:0.83 [[ 9.98090680e-01 -1.01690749e-02 -6.09227690e-02 -1.28814580e+01] [ 9.28160432e-03 9.99846913e-01 -1.48324735e-02 6.82274466e-02] [ 6.10642751e-02 1.42386925e-02 9.98032271e-01 8.27349799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.602557844 meters Centerline goodness : 0.127856 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.06, Z:0.83 [[ 9.98134104e-01 -1.24617254e-02 -5.97747075e-02 -1.28868459e+01] [ 1.15044423e-02 9.99800431e-01 -1.63323631e-02 6.20228826e-02] [ 5.99663078e-02 1.56142139e-02 9.98078273e-01 8.30107967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.662557844 meters Centerline goodness : 0.125813 with order 3 Centerline is valid? [False, False] Translation: X:-12.89, Y:0.06, Z:0.83 [[ 9.98131953e-01 -1.22465399e-02 -5.98550524e-02 -1.28863495e+01] [ 1.13109371e-02 9.99808891e-01 -1.59450486e-02 6.02608725e-02] [ 6.00388852e-02 1.52382458e-02 9.98079720e-01 8.29694941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.722557844 meters Centerline goodness : 0.126875 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.05, Z:0.83 [[ 9.98280485e-01 -4.12268724e-03 -5.84728784e-02 -1.29078484e+01] [ 3.19867476e-03 9.99868674e-01 -1.58872157e-02 5.14847387e-02] [ 5.85306974e-02 1.56728617e-02 9.98162571e-01 8.27018080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.782557844 meters Centerline goodness : 0.126536 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.05, Z:0.83 [[ 9.98287170e-01 -3.88630496e-03 -5.83748415e-02 -1.29082969e+01] [ 2.98484962e-03 9.99875074e-01 -1.55217959e-02 5.00709986e-02] [ 5.84278714e-02 1.53209696e-02 9.98174059e-01 8.27274286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.842557844 meters Centerline goodness : 0.232901 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.05, Z:0.83 [[ 9.98253267e-01 -3.72089779e-03 -5.89624459e-02 -1.29059110e+01] [ 2.82172046e-03 9.99878570e-01 -1.53259295e-02 4.92777060e-02] [ 5.90123122e-02 1.51327837e-02 9.98142548e-01 8.25928725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.902557844 meters Centerline goodness : 0.123252 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.05, Z:0.83 [[ 9.98243477e-01 -3.73989226e-03 -5.91267556e-02 -1.29052918e+01] [ 2.83291802e-03 9.99877155e-01 -1.54158789e-02 4.95581094e-02] [ 5.91771459e-02 1.52212993e-02 9.98131443e-01 8.25611730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.962557844 meters Centerline goodness : 0.224319 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.05, Z:0.82 [[ 9.98226348e-01 -3.70768604e-03 -5.94172642e-02 -1.29041693e+01] [ 2.78278997e-03 9.99873795e-01 -1.56413098e-02 5.12006214e-02] [ 5.94677585e-02 1.54482218e-02 9.98110684e-01 8.24962485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.022557844 meters Centerline goodness : 0.212676 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.05, Z:0.83 [[ 9.98231096e-01 -3.80059027e-03 -5.93315638e-02 -1.29046127e+01] [ 2.86526565e-03 9.99870410e-01 -1.58414919e-02 5.21953815e-02] [ 5.93840821e-02 1.56434691e-02 9.98112625e-01 8.25266160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.082557844 meters Centerline goodness : 0.124715 with order 3 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.05, Z:0.83 [[ 9.98221919e-01 -3.97555598e-03 -5.94743268e-02 -1.29046693e+01] [ 3.03677401e-03 9.99869504e-01 -1.58667253e-02 5.17777258e-02] [ 5.95296447e-02 1.56579029e-02 9.98103728e-01 8.25848003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.142557844 meters Centerline goodness : 0.145320 with order 1 Centerline is valid? [False, False] Translation: X:-12.90, Y:0.05, Z:0.83 [[ 9.98213143e-01 -4.08878407e-03 -5.96137815e-02 -1.29046208e+01] [ 3.15623822e-03 9.99871312e-01 -1.57289035e-02 5.07318947e-02] [ 5.96704220e-02 1.55126429e-02 9.98097590e-01 8.26329579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.202557844 meters Centerline goodness : 0.410128 with order 2 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.05, Z:0.83 [[ 9.98220341e-01 -4.07857126e-03 -5.94938363e-02 -1.29054242e+01] [ 3.15632235e-03 9.99873528e-01 -1.55873335e-02 5.00153396e-02] [ 5.95498860e-02 1.53718117e-02 9.98106967e-01 8.27060734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.262557844 meters Centerline goodness : 0.134270 with order 3 Centerline is valid? [False, False] Translation: X:-12.92, Y:0.04, Z:0.82 [[ 9.98219478e-01 3.62611753e-03 -5.95375857e-02 -1.29248814e+01] [-4.61430594e-03 9.99853735e-01 -1.64686374e-02 4.44145452e-02] [ 5.94691602e-02 1.67140393e-02 9.98090206e-01 8.24042939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.322557844 meters Centerline goodness : 0.149490 with order 1 Centerline is valid? [False, False] Translation: X:-12.93, Y:0.04, Z:0.82 [[ 9.98232720e-01 3.75276009e-03 -5.93072738e-02 -1.29252260e+01] [-4.72493246e-03 9.99856627e-01 -1.62604025e-02 4.36422406e-02] [ 5.92377494e-02 1.65118887e-02 9.98107332e-01 8.23667717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.382557844 meters Centerline goodness : 0.124618 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.05, Z:0.83 [[ 9.98362708e-01 -3.89960251e-03 -5.70674717e-02 -1.29064255e+01] [ 3.04506305e-03 9.99882053e-01 -1.50534998e-02 4.75703935e-02] [ 5.71194434e-02 1.48550788e-02 9.98256829e-01 8.25788410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.442557844 meters Centerline goodness : 0.144242 with order 3 Centerline is valid? [False, False] Translation: X:-12.91, Y:0.05, Z:0.83 [[ 9.98382165e-01 -3.58474561e-03 -5.67468286e-02 -1.29077967e+01] [ 2.76485394e-03 9.99890754e-01 -1.45201617e-02 4.57198584e-02] [ 5.67926804e-02 1.43397738e-02 9.98283007e-01 8.26560594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.502557844 meters Centerline goodness : 0.121590 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:0.04, Z:0.82 [[ 9.98173986e-01 -4.55638084e-03 -6.02323278e-02 -1.29492348e+01] [ 3.68802046e-03 9.99887775e-01 -1.45201662e-02 4.22208923e-02] [ 6.02917276e-02 1.42715142e-02 9.98078770e-01 8.23316487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.562557844 meters Centerline goodness : 0.123856 with order 3 Centerline is valid? [False, False] Translation: X:-12.95, Y:0.04, Z:0.82 [[ 9.98156249e-01 -4.39575637e-03 -6.05374294e-02 -1.29482130e+01] [ 3.52603535e-03 9.99889145e-01 -1.44660067e-02 4.23238055e-02] [ 6.05943076e-02 1.42258779e-02 9.98061097e-01 8.22855864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.622557844 meters Centerline goodness : 0.124611 with order 3 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.04, Z:0.82 [[ 9.98085104e-01 -4.13279700e-03 -6.17174584e-02 -1.29444380e+01] [ 3.24494030e-03 9.99889906e-01 -1.44791352e-02 4.29189714e-02] [ 6.17705030e-02 1.42511397e-02 9.97988632e-01 8.21500515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68255784400003 meters Centerline goodness : 0.224443 with order 3 Centerline is valid? [False, False] Translation: X:-12.94, Y:0.04, Z:0.82 [[ 9.98090545e-01 -4.03533876e-03 -6.16358616e-02 -1.29448681e+01] [ 3.15901694e-03 9.99892637e-01 -1.43085625e-02 4.20212853e-02] [ 6.16869841e-02 1.40865322e-02 9.97996135e-01 8.21762471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74255784400003 meters Centerline goodness : 0.143499 with order 1 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.04, Z:0.82 [[ 9.98215107e-01 4.37447508e-03 -5.95605964e-02 -1.29683357e+01] [-5.24124869e-03 9.99882515e-01 -1.44043634e-02 3.90241775e-02] [ 5.94905874e-02 1.46908251e-02 9.98120759e-01 8.19794560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80255784400003 meters Centerline goodness : 0.194976 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.04, Z:0.82 [[ 9.98205680e-01 4.28070768e-03 -5.97251635e-02 -1.29676140e+01] [-5.18054399e-03 9.99875276e-01 -1.49195852e-02 4.16043856e-02] [ 5.96538479e-02 1.52022235e-02 9.98103357e-01 8.19256651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86255784400004 meters Centerline goodness : 0.211289 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.04, Z:0.82 [[ 9.98211030e-01 4.91112230e-03 -5.95870848e-02 -1.29677882e+01] [-5.79533061e-03 9.99875519e-01 -1.46751932e-02 4.33920907e-02] [ 5.95075957e-02 1.49942665e-02 9.98115233e-01 8.18947790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.922557844 meters Centerline goodness : 0.118449 with order 2 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.04, Z:0.82 [[ 9.98213809e-01 4.80822840e-03 -5.95489114e-02 -1.29683408e+01] [-5.68985649e-03 9.99876576e-01 -1.46444049e-02 4.20849780e-02] [ 5.94711480e-02 1.49570719e-02 9.98117963e-01 8.19570022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.982557844 meters Centerline goodness : 0.123319 with order 3 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.04, Z:0.82 [[ 9.98216652e-01 5.10470942e-03 -5.94765285e-02 -1.29687350e+01] [-5.95434305e-03 9.99882625e-01 -1.41167306e-02 4.02944005e-02] [ 5.93974856e-02 1.44456992e-02 9.98129882e-01 8.19812628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.042557844 meters Centerline goodness : 0.156011 with order 1 Centerline is valid? [False, False] Translation: X:-12.97, Y:0.04, Z:0.82 [[ 9.98220301e-01 5.12473597e-03 -5.94135248e-02 -1.29690223e+01] [-5.95826935e-03 9.99886184e-01 -1.38606948e-02 3.83071296e-02] [ 5.93357302e-02 1.41900288e-02 9.98137222e-01 8.20076046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.102557844 meters Centerline goodness : 0.137161 with order 3 Centerline is valid? [False, False] Translation: X:-12.96, Y:0.04, Z:0.82 [[ 9.98131643e-01 7.77775324e-03 -6.06030557e-02 -1.29634776e+01] [-8.50581374e-03 9.99894614e-01 -1.17648897e-02 4.11464432e-02] [ 6.05051646e-02 1.22583870e-02 9.98092609e-01 8.17463261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.162557844 meters Centerline goodness : 0.122446 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.04, Z:0.82 [[ 9.97960137e-01 8.07080650e-03 -6.33279326e-02 -1.30093410e+01] [-8.80450599e-03 9.99897218e-01 -1.13152129e-02 4.33492302e-02] [ 6.32301008e-02 1.18497026e-02 9.97928624e-01 8.16442863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.222557844 meters Centerline goodness : 0.142071 with order 1 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.05, Z:0.82 [[ 9.97973648e-01 7.96132230e-03 -6.31285586e-02 -1.30098171e+01] [-8.71478948e-03 9.99893937e-01 -1.16690825e-02 4.55441999e-02] [ 6.30289616e-02 1.21955889e-02 9.97937181e-01 8.16287329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.282557844 meters Centerline goodness : 0.376917 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.05, Z:0.82 [[ 9.97901716e-01 7.18821601e-03 -6.43466776e-02 -1.30063110e+01] [-8.00558541e-03 9.99890401e-01 -1.24537779e-02 4.75771294e-02] [ 6.42501048e-02 1.29427791e-02 9.97849893e-01 8.15683527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.342557844 meters Centerline goodness : 0.114978 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.05, Z:0.82 [[ 9.97919918e-01 7.11689570e-03 -6.40717345e-02 -1.30074610e+01] [-7.93290198e-03 9.99890523e-01 -1.24904428e-02 4.82004246e-02] [ 6.39758269e-02 1.29727365e-02 9.97867126e-01 8.16314209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.402557844 meters Centerline goodness : 0.150388 with order 1 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.05, Z:0.82 [[ 9.98000446e-01 7.08076852e-03 -6.28090106e-02 -1.30120512e+01] [-7.90852266e-03 9.99884998e-01 -1.29401009e-02 5.15329450e-02] [ 6.27101616e-02 1.34109530e-02 9.97941673e-01 8.18290885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.462557844 meters Centerline goodness : 0.126506 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.06, Z:0.82 [[ 9.97910472e-01 7.23062848e-03 -6.42059744e-02 -1.30076741e+01] [-8.12453794e-03 9.99873521e-01 -1.36723653e-02 5.78583173e-02] [ 6.40989939e-02 1.41654404e-02 9.97843003e-01 8.17001256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.522557844 meters Centerline goodness : 0.122831 with order 3 Centerline is valid? [False, False] Translation: X:-13.01, Y:0.06, Z:0.82 [[ 9.97887681e-01 6.94002607e-03 -6.45911146e-02 -1.30065662e+01] [-7.87830687e-03 9.99866954e-01 -1.42831201e-02 6.04447437e-02] [ 6.44833958e-02 1.47618183e-02 9.97809591e-01 8.16752235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.582557844 meters Centerline goodness : 0.124724 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.07, Z:0.82 [[ 9.97849267e-01 -4.99279407e-04 -6.55483913e-02 -1.30270953e+01] [-2.99443253e-04 9.99925839e-01 -1.21748466e-02 6.75128040e-02] [ 6.55496088e-02 1.21682898e-02 9.97775116e-01 8.15575909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.642557844 meters Centerline goodness : 0.124387 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.07, Z:0.82 [[ 9.97847892e-01 -7.48114983e-04 -6.55669443e-02 -1.30271057e+01] [-8.74395828e-05 9.99918842e-01 -1.27397377e-02 7.03851479e-02] [ 6.55711539e-02 1.27180535e-02 9.97766844e-01 8.15610756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.702557844 meters Centerline goodness : 0.204739 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.07, Z:0.82 [[ 9.97895792e-01 -1.11022602e-03 -6.48286642e-02 -1.30300408e+01] [ 2.42168982e-04 9.99910236e-01 -1.33963419e-02 7.34606212e-02] [ 6.48377178e-02 1.33524537e-02 9.97806485e-01 8.17184180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.762557844 meters Centerline goodness : 0.141073 with order 1 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.08, Z:0.82 [[ 9.97906781e-01 -1.35451607e-03 -6.46546285e-02 -1.30307443e+01] [ 4.52705412e-04 9.99902442e-01 -1.39607348e-02 7.63328545e-02] [ 6.46672309e-02 1.39022425e-02 9.97810040e-01 8.17517424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.822557844 meters Centerline goodness : 0.139909 with order 1 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.08, Z:0.82 [[ 9.97957999e-01 -1.51864752e-03 -6.38555151e-02 -1.30330323e+01] [ 5.75043668e-04 9.99890413e-01 -1.47929536e-02 8.17843090e-02] [ 6.38709827e-02 1.47260266e-02 9.97849509e-01 8.17804748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.882557844 meters Centerline goodness : 0.136643 with order 1 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.82 [[ 9.97969095e-01 -1.83524055e-03 -6.36735272e-02 -1.30336622e+01] [ 8.48175955e-04 9.99879112e-01 -1.55255307e-02 8.53130111e-02] [ 6.36943229e-02 1.54399935e-02 9.97850009e-01 8.17980514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.942557844 meters Centerline goodness : 0.119050 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.82 [[ 9.97963120e-01 -2.00874788e-03 -6.37618711e-02 -1.30329395e+01] [ 9.93531837e-04 9.99872302e-01 -1.59497081e-02 8.79287977e-02] [ 6.37857678e-02 1.58538710e-02 9.97837677e-01 8.17252561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.002557844 meters Centerline goodness : 0.235847 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.82 [[ 9.97932269e-01 -2.19738207e-03 -6.42367380e-02 -1.30313274e+01] [ 1.15887734e-03 9.99868106e-01 -1.61996264e-02 8.87455595e-02] [ 6.42638623e-02 1.60916874e-02 9.97803194e-01 8.16638806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.062557844 meters Centerline goodness : 0.167217 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.82 [[ 9.97892845e-01 -2.46711327e-03 -6.48365937e-02 -1.30290211e+01] [ 1.38599457e-03 9.99859347e-01 -1.67142062e-02 9.12272827e-02] [ 6.48687101e-02 1.65891236e-02 9.97755908e-01 8.15468179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.122557844 meters Centerline goodness : 0.255035 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.82 [[ 9.97904377e-01 -2.62409985e-03 -6.46526818e-02 -1.30295916e+01] [ 1.52730914e-03 9.99854188e-01 -1.70079372e-02 9.26368867e-02] [ 6.46878851e-02 1.68735503e-02 9.97762878e-01 8.15588015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18255784400003 meters Centerline goodness : 0.279428 with order 1 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.82 [[ 9.97898924e-01 -2.93660078e-03 -6.47233709e-02 -1.30294777e+01] [ 1.80824440e-03 9.99845487e-01 -1.74852126e-02 9.44248623e-02] [ 6.47647174e-02 1.73314391e-02 9.97750045e-01 8.15658783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24255784400003 meters Centerline goodness : 0.120353 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.82 [[ 9.97893373e-01 -3.01654008e-03 -6.48052135e-02 -1.30291427e+01] [ 1.87897126e-03 9.99843211e-01 -1.76074438e-02 9.49285088e-02] [ 6.48481664e-02 1.74485844e-02 9.97742583e-01 8.15475718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30255784400003 meters Centerline goodness : 0.238146 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.10, Z:0.81 [[ 9.97856590e-01 -3.14053178e-03 -6.53633178e-02 -1.30270577e+01] [ 1.99068485e-03 9.99842257e-01 -1.76493241e-02 9.51127482e-02] [ 6.54084355e-02 1.74813766e-02 9.97705437e-01 8.14525203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36255784400004 meters Centerline goodness : 0.143337 with order 1 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.81 [[ 9.97839809e-01 -3.24524162e-03 -6.56138991e-02 -1.30265350e+01] [ 2.09832620e-03 9.99843941e-01 -1.75411273e-02 9.39400371e-02] [ 6.56605846e-02 1.73655558e-02 9.97690897e-01 8.14697429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.422557844 meters Centerline goodness : 0.118782 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.81 [[ 9.97842849e-01 -3.21923746e-03 -6.55689287e-02 -1.30267554e+01] [ 2.08218072e-03 9.99846399e-01 -1.74023559e-02 9.31219626e-02] [ 6.56148796e-02 1.72282900e-02 9.97696283e-01 8.14894991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.482557844 meters Centerline goodness : 0.408565 with order 1 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.09, Z:0.82 [[ 9.97914181e-01 -2.92903429e-03 -6.44880405e-02 -1.30299685e+01] [ 1.80407758e-03 9.99845310e-01 -1.74957495e-02 9.47799552e-02] [ 6.45293105e-02 1.73429152e-02 9.97765098e-01 8.15543916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.542557844 meters Centerline goodness : 0.121979 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.10, Z:0.82 [[ 9.97934269e-01 -2.93489594e-03 -6.41761672e-02 -1.30307475e+01] [ 1.79592797e-03 9.99839990e-01 -1.77980130e-02 9.65215550e-02] [ 6.42181337e-02 1.76459913e-02 9.97779861e-01 8.15460833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.602557844 meters Centerline goodness : 0.116145 with order 3 Centerline is valid? [False, False] Translation: X:-13.03, Y:0.10, Z:0.82 [[ 9.97952001e-01 -2.84062961e-03 -6.39041085e-02 -1.30318477e+01] [ 1.69002465e-03 9.99835620e-01 -1.80520348e-02 9.84391994e-02] [ 6.39448831e-02 1.79070647e-02 9.97792759e-01 8.15958971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.662557844 meters Centerline goodness : 0.147217 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.09, Z:0.82 [[ 9.97828445e-01 -3.01496108e-03 -6.57974428e-02 -1.30800010e+01] [ 1.87692162e-03 9.99847697e-01 -1.73510710e-02 9.41811891e-02] [ 6.58397344e-02 1.71898956e-02 9.97682132e-01 8.15450497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.722557844 meters Centerline goodness : 0.405282 with order 1 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.09, Z:0.82 [[ 9.97817453e-01 -2.84373331e-03 -6.59715336e-02 -1.30796155e+01] [ 1.72451580e-03 9.99853732e-01 -1.70159059e-02 9.28504741e-02] [ 6.60102727e-02 1.68649989e-02 9.97676408e-01 8.15496662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.782557844 meters Centerline goodness : 0.111909 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.09, Z:0.82 [[ 9.97803579e-01 -2.69865434e-03 -6.61871138e-02 -1.30787939e+01] [ 1.59438889e-03 9.99858753e-01 -1.67311452e-02 9.15700899e-02] [ 6.62229167e-02 1.65888686e-02 9.97666946e-01 8.15135141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.842557844 meters Centerline goodness : 0.117709 with order 3 Centerline is valid? [False, False] Translation: X:-13.08, Y:0.09, Z:0.82 [[ 9.97828125e-01 -2.71202167e-03 -6.58154806e-02 -1.30800160e+01] [ 1.61085971e-03 9.99857936e-01 -1.67783514e-02 9.13311457e-02] [ 6.58516339e-02 1.66358914e-02 9.97690738e-01 8.15456883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.902557844 meters Centerline goodness : 0.142261 with order 1 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.09, Z:0.81 [[ 9.97601344e-01 -7.77138883e-04 -6.92167195e-02 -1.31235674e+01] [-2.26700172e-04 9.99894934e-01 -1.44938049e-02 8.89939611e-02] [ 6.92207109e-02 1.44747307e-02 9.97496354e-01 8.12903612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.962557844 meters Centerline goodness : 0.147082 with order 1 Centerline is valid? [False, False] Translation: X:-13.13, Y:0.09, Z:0.81 [[ 9.97630802e-01 -7.75873705e-04 -6.87908553e-02 -1.31250603e+01] [-2.25996646e-04 9.99894044e-01 -1.45550264e-02 8.93411197e-02] [ 6.87948593e-02 1.45360891e-02 9.97524922e-01 8.13438171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.022557844 meters Centerline goodness : 0.142661 with order 1 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.09, Z:0.81 [[ 9.97605647e-01 -8.73187983e-04 -6.91535268e-02 -1.31241945e+01] [-1.06345167e-04 9.99899741e-01 -1.41596680e-02 8.64443688e-02] [ 6.91589576e-02 1.41331189e-02 9.97505536e-01 8.13546295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.082557844 meters Centerline goodness : 0.370026 with order 1 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.08, Z:0.81 [[ 9.97595238e-01 -8.29117320e-04 -6.93040705e-02 -1.31237133e+01] [-1.21931305e-04 9.99905903e-01 -1.37174828e-02 8.35574059e-02] [ 6.93089226e-02 1.36929458e-02 9.97501266e-01 8.13469067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.142557844 meters Centerline goodness : 0.121712 with order 3 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.08, Z:0.81 [[ 9.97578551e-01 -5.96906259e-04 -6.95462266e-02 -1.31230200e+01] [-2.90296986e-04 9.99918721e-01 -1.27462241e-02 7.75247334e-02] [ 6.95481823e-02 1.27355488e-02 9.97497296e-01 8.13446127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.202557844 meters Centerline goodness : 0.193224 with order 3 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.07, Z:0.81 [[ 9.97560926e-01 -2.71931433e-04 -6.98006060e-02 -1.31221372e+01] [-5.68639976e-04 9.99927568e-01 -1.20223134e-02 7.37891182e-02] [ 6.97988194e-02 1.20326815e-02 9.97488516e-01 8.13143787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.262557844 meters Centerline goodness : 0.121580 with order 3 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.07, Z:0.81 [[ 9.97506820e-01 5.94308281e-04 -7.05676283e-02 -1.31194330e+01] [-1.39139411e-03 9.99935785e-01 -1.12467291e-02 7.17977775e-02] [ 7.05564128e-02 1.13168764e-02 9.97443593e-01 8.11928873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.322557844 meters Centerline goodness : 0.119277 with order 3 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.08, Z:0.81 [[ 9.97517901e-01 4.62919699e-03 -7.02609916e-02 -1.31197502e+01] [-5.22174586e-03 9.99952316e-01 -8.25221376e-03 7.61163895e-02] [ 7.02194401e-02 8.59861599e-03 9.97494508e-01 8.11178443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.382557844 meters Centerline goodness : 0.117294 with order 2 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.08, Z:0.81 [[ 9.97507806e-01 8.55103044e-03 -7.00361147e-02 -1.31201469e+01] [-8.94324013e-03 9.99946024e-01 -5.28845661e-03 8.12937634e-02] [ 6.99871127e-02 5.90162654e-03 9.97530438e-01 8.10860950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.442557844 meters Centerline goodness : 0.086140 with order 1 Centerline is valid? [False, False] Translation: X:-13.12, Y:0.09, Z:0.81 [[ 9.97482495e-01 1.20470020e-02 -6.98823419e-02 -1.31200063e+01] [-1.22996931e-02 9.99919278e-01 -3.18677174e-03 9.19926052e-02] [ 6.98383098e-02 4.03828038e-03 9.97550151e-01 8.10098422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.502557844 meters Centerline goodness : 0.140959 with order 1 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.10, Z:0.81 [[ 9.97622033e-01 3.83742342e-03 -6.88153578e-02 -1.31398180e+01] [-4.04181073e-03 9.99987824e-01 -2.83109389e-03 1.03183455e-01] [ 6.88036559e-02 3.10250029e-03 9.97625396e-01 8.06656699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.562557844 meters Centerline goodness : 0.150903 with order 3 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.11, Z:0.81 [[ 9.97658782e-01 2.92714488e-03 -6.83255863e-02 -1.31417323e+01] [-3.20491529e-03 9.99987039e-01 -3.95613074e-03 1.08895205e-01] [ 6.83131205e-02 4.16584629e-03 9.97655233e-01 8.07307507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.622557844 meters Centerline goodness : 0.121881 with order 3 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.11, Z:0.81 [[ 9.97703744e-01 2.15355872e-03 -6.76949178e-02 -1.31435535e+01] [-2.47690204e-03 9.99985921e-01 -4.69290818e-03 1.11380764e-01] [ 6.76838583e-02 4.84980574e-03 9.97695031e-01 8.07655174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68255784400003 meters Centerline goodness : 0.172010 with order 3 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.11, Z:0.81 [[ 9.97721165e-01 9.68223651e-04 -6.74651028e-02 -1.31444029e+01] [-1.35109288e-03 9.99983241e-01 -5.62967410e-03 1.13448575e-01] [ 6.74585214e-02 5.70799662e-03 9.97705752e-01 8.08105183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74255784400003 meters Centerline goodness : 0.146197 with order 1 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.11, Z:0.81 [[ 9.97728535e-01 6.49076515e-04 -6.73598531e-02 -1.31449970e+01] [-1.04107589e-03 9.99982727e-01 -5.78454081e-03 1.13435129e-01] [ 6.73549350e-02 5.84152815e-03 9.97711977e-01 8.08663075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80255784400003 meters Centerline goodness : 0.177735 with order 3 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.11, Z:0.81 [[ 9.97752623e-01 -3.52553532e-03 -6.69124294e-02 -1.31460521e+01] [ 2.88867398e-03 9.99949629e-01 -9.61220071e-03 1.13262335e-01] [ 6.69429472e-02 9.39731028e-03 9.97712550e-01 8.08592970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86255784400004 meters Centerline goodness : 0.220587 with order 3 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.11, Z:0.81 [[ 9.97738747e-01 -3.39552177e-03 -6.71257212e-02 -1.31453405e+01] [ 2.78151388e-03 9.99953456e-01 -9.23847871e-03 1.11243042e-01] [ 6.71539663e-02 9.03087705e-03 9.97701753e-01 8.08412359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.922557844 meters Centerline goodness : 0.142476 with order 1 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.11, Z:0.81 [[ 9.97722606e-01 -3.16311133e-03 -6.73765188e-02 -1.31445175e+01] [ 2.56774980e-03 9.99956909e-01 -8.92110512e-03 1.09489798e-01] [ 6.74018339e-02 8.72778221e-03 9.97687736e-01 8.08123720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.982557844 meters Centerline goodness : 0.128861 with order 3 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.11, Z:0.81 [[ 9.97742991e-01 -2.88580685e-03 -6.70864849e-02 -1.31452419e+01] [ 2.30170472e-03 9.99958785e-01 -8.78236750e-03 1.09344215e-01] [ 6.71090642e-02 8.60813233e-03 9.97708511e-01 8.08038517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.042557844 meters Centerline goodness : 0.144639 with order 1 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.11, Z:0.81 [[ 9.97780965e-01 -2.45272976e-03 -6.65366786e-02 -1.31466814e+01] [ 1.87260289e-03 9.99959703e-01 -8.77987027e-03 1.10515682e-01] [ 6.65555320e-02 8.63579066e-03 9.97745350e-01 8.07942449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.102557844 meters Centerline goodness : 0.143660 with order 1 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.11, Z:0.81 [[ 9.97799584e-01 -2.50291194e-03 -6.62550059e-02 -1.31472885e+01] [ 1.90776645e-03 9.99957279e-01 -9.04439505e-03 1.12040249e-01] [ 6.62748128e-02 8.89809454e-03 9.97761732e-01 8.07674993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.162557844 meters Centerline goodness : 0.148511 with order 1 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.11, Z:0.81 [[ 9.97790960e-01 -2.54508221e-03 -6.63831518e-02 -1.31467632e+01] [ 1.93977408e-03 9.99955970e-01 -9.18126200e-03 1.12788549e-01] [ 6.64035960e-02 9.03221191e-03 9.97751964e-01 8.07322268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.222557844 meters Centerline goodness : 0.151807 with order 1 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.11, Z:0.81 [[ 9.97757914e-01 -2.67789599e-03 -6.68728217e-02 -1.31453928e+01] [ 2.06602751e-03 9.99955386e-01 -9.21721566e-03 1.12518702e-01] [ 6.68945210e-02 9.05838877e-03 9.97718933e-01 8.07055097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.282557844 meters Centerline goodness : 0.144321 with order 1 Centerline is valid? [False, False] Translation: X:-13.15, Y:0.11, Z:0.81 [[ 9.97752253e-01 -6.53971940e-03 -6.66908784e-02 -1.31455801e+01] [ 5.74013349e-03 9.99909418e-01 -1.21740171e-02 1.08308353e-01] [ 6.67644521e-02 1.17638384e-02 9.97699414e-01 8.06958196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.342557844 meters Centerline goodness : 0.151557 with order 1 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.10, Z:0.81 [[ 9.97743286e-01 -6.70601304e-03 -6.68084242e-02 -1.31449722e+01] [ 5.93276443e-03 9.99913180e-01 -1.17658059e-02 1.04758663e-01] [ 6.68815256e-02 1.13428952e-02 9.97696447e-01 8.06679016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.402557844 meters Centerline goodness : 0.134786 with order 3 Centerline is valid? [False, False] Translation: X:-13.14, Y:0.10, Z:0.81 [[ 9.97727338e-01 -6.30261329e-03 -6.70852851e-02 -1.31435682e+01] [ 5.57777333e-03 9.99924089e-01 -1.09865810e-02 1.01486640e-01] [ 6.71494368e-02 1.05874257e-02 9.97686754e-01 8.05747642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.462557844 meters Centerline goodness : 0.150808 with order 1 Centerline is valid? [False, False] Translation: X:-13.16, Y:0.10, Z:0.80 [[ 9.97676914e-01 1.98824317e-03 -6.80942097e-02 -1.31638820e+01] [-2.79475732e-03 9.99927050e-01 -1.17508777e-02 9.61041419e-02] [ 6.80658786e-02 1.19138862e-02 9.97609691e-01 8.03569521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.522557844 meters Centerline goodness : 0.296135 with order 1 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.10, Z:0.80 [[ 9.97688920e-01 6.08309399e-03 -6.76743230e-02 -1.31654443e+01] [-6.65993125e-03 9.99943365e-01 -8.30137810e-03 9.86423317e-02] [ 6.76199922e-02 8.73289929e-03 9.97672929e-01 8.04223891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.582557844 meters Centerline goodness : 0.155281 with order 1 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.10, Z:0.80 [[ 9.97759358e-01 6.13733205e-03 -6.66227955e-02 -1.31685229e+01] [-6.75740302e-03 9.99935891e-01 -9.08583173e-03 1.04854858e-01] [ 6.65627616e-02 9.51567071e-03 9.97736864e-01 8.04551468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.642557844 meters Centerline goodness : 0.218284 with order 3 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.11, Z:0.80 [[ 9.97740378e-01 5.86396568e-03 -6.69309509e-02 -1.31676982e+01] [-6.52589950e-03 9.99931897e-01 -9.67545059e-03 1.07682490e-01] [ 6.68696561e-02 1.00903724e-02 9.97710696e-01 8.04461659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.702557844 meters Centerline goodness : 0.239792 with order 3 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.11, Z:0.80 [[ 9.97748267e-01 5.71005848e-03 -6.68265771e-02 -1.31681208e+01] [-6.38584353e-03 9.99930571e-01 -9.90327950e-03 1.08649413e-01] [ 6.67653891e-02 1.03077240e-02 9.97715457e-01 8.04686987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.762557844 meters Centerline goodness : 0.146864 with order 1 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.11, Z:0.80 [[ 9.97765630e-01 5.40685064e-03 -6.65921382e-02 -1.31687970e+01] [-6.09492162e-03 9.99930077e-01 -1.01337899e-02 1.09054832e-01] [ 6.65326900e-02 1.05170212e-02 9.97728818e-01 8.04890989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.822557844 meters Centerline goodness : 0.148173 with order 1 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.11, Z:0.80 [[ 9.97777982e-01 5.61126250e-03 -6.63898487e-02 -1.31693732e+01] [-6.32319540e-03 9.99924689e-01 -1.05182532e-02 1.13050716e-01] [ 6.63258281e-02 1.09146775e-02 9.97738320e-01 8.04939343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.882557844 meters Centerline goodness : 0.147509 with order 1 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.12, Z:0.80 [[ 9.97759288e-01 5.84248411e-03 -6.66503389e-02 -1.31684057e+01] [-6.59760872e-03 9.99916459e-01 -1.11151627e-02 1.17449864e-01] [ 6.65798307e-02 1.15299896e-02 9.97714481e-01 8.04277416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.942557844 meters Centerline goodness : 0.153800 with order 1 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.12, Z:0.81 [[ 9.97851228e-01 7.14044311e-03 -6.51301835e-02 -1.31748492e+01] [-7.80687622e-03 9.99919687e-01 -9.98356438e-03 1.17544071e-01] [ 6.50536657e-02 1.04705753e-02 9.97826832e-01 8.06995457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.002557844 meters Centerline goodness : 0.147031 with order 1 Centerline is valid? [False, False] Translation: X:-13.18, Y:0.12, Z:0.81 [[ 9.97883816e-01 2.91936005e-03 -6.49566619e-02 -1.31755928e+01] [-3.81284344e-03 9.99899765e-01 -1.36353580e-02 1.15117802e-01] [ 6.49103444e-02 1.38541726e-02 9.97794923e-01 8.07362273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.062557844 meters Centerline goodness : 0.159833 with order 1 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.11, Z:0.81 [[ 9.97822993e-01 2.93073005e-03 -6.58838715e-02 -1.31721472e+01] [-3.78563155e-03 9.99910208e-01 -1.28547897e-02 1.09175670e-01] [ 6.58402817e-02 1.30762168e-02 9.97744491e-01 8.05967227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.122557844 meters Centerline goodness : 0.148475 with order 1 Centerline is valid? [False, False] Translation: X:-13.17, Y:0.11, Z:0.80 [[ 9.97754059e-01 3.18830637e-03 -6.69079365e-02 -1.31681863e+01] [-4.03451454e-03 9.99913532e-01 -1.25160425e-02 1.07488544e-01] [ 6.68622461e-02 1.27578732e-02 9.97680649e-01 8.04082847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18255784400003 meters Centerline goodness : 0.145315 with order 1 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.10, Z:0.80 [[ 9.97389494e-01 6.22658222e-03 -7.19404446e-02 -1.32063454e+01] [-6.97643592e-03 9.99923879e-01 -1.01766906e-02 1.04707959e-01] [ 7.18716024e-02 1.06520122e-02 9.97357011e-01 8.00989722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24255784400003 meters Centerline goodness : 0.143130 with order 1 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.11, Z:0.80 [[ 9.97382009e-01 6.36245041e-03 -7.20322628e-02 -1.32056740e+01] [-7.13186790e-03 9.99920179e-01 -1.04294125e-02 1.06845212e-01] [ 7.19601564e-02 1.09158330e-02 9.97347773e-01 8.00246817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30255784400003 meters Centerline goodness : 0.102834 with order 1 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.11, Z:0.80 [[ 9.97434811e-01 1.85501104e-03 -7.15566626e-02 -1.32073850e+01] [-2.92195139e-03 9.99886077e-01 -1.48086325e-02 1.08237515e-01] [ 7.15210404e-02 1.49797307e-02 9.97326601e-01 8.00748983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36255784400004 meters Centerline goodness : 0.156015 with order 1 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.11, Z:0.80 [[ 9.97470859e-01 1.92347213e-03 -7.10505925e-02 -1.32092459e+01] [-2.97128446e-03 9.99888346e-01 -1.46446674e-02 1.08236094e-01] [ 7.10144908e-02 1.48187405e-02 9.97365202e-01 8.01488654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.422557844 meters Centerline goodness : 0.150107 with order 1 Centerline is valid? [False, False] Translation: X:-13.21, Y:0.11, Z:0.80 [[ 9.97378523e-01 1.06587220e-03 -7.23529214e-02 -1.32052666e+01] [-2.17668035e-03 9.99880953e-01 -1.52755258e-02 1.08647810e-01] [ 7.23280263e-02 1.53929706e-02 9.97262109e-01 8.00748054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.482557844 meters Centerline goodness : 0.158003 with order 1 Centerline is valid? [False, False] Translation: X:-13.20, Y:0.11, Z:0.80 [[ 9.97333613e-01 9.78422327e-04 -7.29705851e-02 -1.32033302e+01] [-2.09338622e-03 9.99882210e-01 -1.52047207e-02 1.08060068e-01] [ 7.29471133e-02 1.53169346e-02 9.97218186e-01 8.00303654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.542557844 meters Centerline goodness : 0.149312 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.10, Z:0.80 [[ 9.97608672e-01 -2.20120181e-03 -6.90803360e-02 -1.32483028e+01] [ 1.06382392e-03 9.99863349e-01 -1.64970397e-02 1.04886805e-01] [ 6.91072094e-02 1.63841006e-02 9.97474689e-01 7.96515806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.602557844 meters Centerline goodness : 0.150540 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.10, Z:0.80 [[ 9.97623033e-01 -2.08389019e-03 -6.88762827e-02 -1.32490370e+01] [ 9.60876871e-04 9.99866131e-01 -1.63339002e-02 1.04796445e-01] [ 6.89011003e-02 1.62288934e-02 9.97491484e-01 7.96823581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.662557844 meters Centerline goodness : 0.149271 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.11, Z:0.80 [[ 9.97582511e-01 -2.20983020e-03 -6.94568231e-02 -1.32466954e+01] [ 1.06316715e-03 9.99862613e-01 -1.65416382e-02 1.05228342e-01] [ 6.94838348e-02 1.64278048e-02 9.97447805e-01 7.95589087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.722557844 meters Centerline goodness : 0.157235 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.10, Z:0.80 [[ 9.97728296e-01 -1.08066439e-03 -6.73578452e-02 -1.32549034e+01] [ 6.91763462e-05 9.99887234e-01 -1.50171569e-02 1.01384113e-01] [ 6.73664780e-02 1.49783828e-02 9.97615861e-01 7.99157101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.782557844 meters Centerline goodness : 0.121852 with order 2 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.10, Z:0.80 [[ 9.97720385e-01 -1.05915681e-03 -6.74752650e-02 -1.32544629e+01] [ 5.52217265e-05 9.99889305e-01 -1.48786925e-02 1.00259517e-01] [ 6.74835547e-02 1.48410487e-02 9.97610001e-01 7.99016190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.842557844 meters Centerline goodness : 0.384682 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.10, Z:0.80 [[ 9.97689670e-01 -9.10125892e-04 -6.79300668e-02 -1.32532260e+01] [-9.59474129e-05 9.99890385e-01 -1.48056953e-02 1.00272739e-01] [ 6.79360957e-02 1.47780070e-02 9.97580221e-01 7.98840311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.902557844 meters Centerline goodness : 0.153593 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.10, Z:0.80 [[ 9.97706687e-01 -8.06023129e-04 -6.76809907e-02 -1.32540199e+01] [-1.94125030e-04 9.99890906e-01 -1.47695095e-02 1.00574426e-01] [ 6.76855117e-02 1.47487770e-02 9.97597687e-01 7.99058858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.962557844 meters Centerline goodness : 0.165333 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.10, Z:0.80 [[ 9.97680751e-01 -9.17345843e-04 -6.80608381e-02 -1.32527372e+01] [-1.02940173e-04 9.99887702e-01 -1.49857728e-02 1.01055134e-01] [ 6.80669421e-02 1.49580232e-02 9.97568619e-01 7.98564291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.022557844 meters Centerline goodness : 0.105766 with order 2 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.10, Z:0.80 [[ 9.97675525e-01 -1.03643034e-03 -6.81356957e-02 -1.32522395e+01] [-1.56169054e-05 9.99880825e-01 -1.54381255e-02 1.03534093e-01] [ 6.81435762e-02 1.54033040e-02 9.97556611e-01 7.98047551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.082557844 meters Centerline goodness : 0.153720 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.11, Z:0.80 [[ 9.97716440e-01 -1.13186608e-03 -6.75323984e-02 -1.32540307e+01] [ 5.70911401e-05 9.99873351e-01 -1.59147607e-02 1.06459691e-01] [ 6.75418588e-02 1.58745629e-02 9.97590144e-01 7.98328915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.142557844 meters Centerline goodness : 0.110975 with order 2 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.11, Z:0.80 [[ 9.97726590e-01 -1.54572795e-03 -6.73740538e-02 -1.32549293e+01] [ 4.04390214e-04 9.99856245e-01 -1.69506630e-02 1.11676636e-01] [ 6.73905696e-02 1.68848817e-02 9.97583787e-01 7.98911258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.202557844 meters Centerline goodness : 0.156530 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.12, Z:0.80 [[ 9.97695475e-01 -1.64235554e-03 -6.78309849e-02 -1.32530562e+01] [ 4.54924448e-04 9.99846454e-01 -1.75174709e-02 1.15698356e-01] [ 6.78493397e-02 1.74462435e-02 9.97543029e-01 7.97946491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.262557844 meters Centerline goodness : 0.104235 with order 2 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.12, Z:0.80 [[ 9.97684064e-01 -1.88682331e-03 -6.79922638e-02 -1.32524645e+01] [ 6.66155526e-04 9.99838282e-01 -1.79712419e-02 1.17599046e-01] [ 6.80151768e-02 1.78843283e-02 9.97523978e-01 7.97713753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.322557844 meters Centerline goodness : 0.162083 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.12, Z:0.80 [[ 9.97672042e-01 -2.05992685e-03 -6.81634270e-02 -1.32518043e+01] [ 8.12003448e-04 9.99831653e-01 -1.83304594e-02 1.19196488e-01] [ 6.81897113e-02 1.82324379e-02 9.97505760e-01 7.97390279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.382557844 meters Centerline goodness : 0.151669 with order 1 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.12, Z:0.80 [[ 9.97668464e-01 -2.25284071e-03 -6.82096743e-02 -1.32516009e+01] [ 9.68906168e-04 9.99821842e-01 -1.88505843e-02 1.21946482e-01] [ 6.82399896e-02 1.87405448e-02 9.97492905e-01 7.97203424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.442557844 meters Centerline goodness : 0.108605 with order 2 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.12, Z:0.80 [[ 9.97687403e-01 -2.37765983e-03 -6.79278537e-02 -1.32525537e+01] [ 1.07460536e-03 9.99814835e-01 -1.92130218e-02 1.24279377e-01] [ 6.79609579e-02 1.90955942e-02 9.97505221e-01 7.97484607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.502557844 meters Centerline goodness : 0.109294 with order 2 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.12, Z:0.80 [[ 9.97678980e-01 -2.61366492e-03 -6.80427885e-02 -1.32524541e+01] [ 1.31675759e-03 9.99816749e-01 -1.90980502e-02 1.22610189e-01] [ 6.80802355e-02 1.89641274e-02 9.97499596e-01 7.97822811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.562557844 meters Centerline goodness : 0.160303 with order 1 Centerline is valid? [False, False] Translation: X:-13.26, Y:0.12, Z:0.80 [[ 9.97743690e-01 -2.79347857e-03 -6.70799895e-02 -1.32551385e+01] [ 1.54267173e-03 9.99824117e-01 -1.86910622e-02 1.19662453e-01] [ 6.71204043e-02 1.85454070e-02 9.97572513e-01 7.98295572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.622557844 meters Centerline goodness : 0.120558 with order 2 Centerline is valid? [False, False] Translation: X:-13.26, Y:0.12, Z:0.80 [[ 9.97750871e-01 -2.63225357e-03 -6.69796283e-02 -1.32551999e+01] [ 1.40545036e-03 9.99830516e-01 -1.83565981e-02 1.17968751e-01] [ 6.70165955e-02 1.82211752e-02 9.97585467e-01 7.98038003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68255784400003 meters Centerline goodness : 0.103295 with order 2 Centerline is valid? [False, False] Translation: X:-13.25, Y:0.12, Z:0.80 [[ 9.97726373e-01 -2.42627259e-03 -6.73513008e-02 -1.32537721e+01] [ 1.21727879e-03 9.99837501e-01 -1.79858021e-02 1.16058386e-01] [ 6.73839947e-02 1.78629238e-02 9.97567197e-01 7.97331971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74255784400003 meters Centerline goodness : 0.162641 with order 1 Centerline is valid? [False, False] Translation: X:-13.27, Y:0.11, Z:0.79 [[ 9.97610111e-01 5.37907546e-03 -6.88849185e-02 -1.32717018e+01] [-6.72659888e-03 9.99790241e-01 -1.93449587e-02 1.08487665e-01] [ 6.87664113e-02 1.97620876e-02 9.97437036e-01 7.93847188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80255784400003 meters Centerline goodness : 0.107927 with order 2 Centerline is valid? [False, False] Translation: X:-13.27, Y:0.11, Z:0.79 [[ 9.97620951e-01 5.52038168e-03 -6.87165441e-02 -1.32723311e+01] [-6.84467875e-03 9.99795077e-01 -1.90513728e-02 1.07160003e-01] [ 6.85972916e-02 1.94763913e-02 9.97454301e-01 7.94096273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86255784400004 meters Centerline goodness : 0.163306 with order 1 Centerline is valid? [False, False] Translation: X:-13.27, Y:0.10, Z:0.79 [[ 9.97613164e-01 5.74009582e-03 -6.88115329e-02 -1.32718497e+01] [-7.01597623e-03 9.99807662e-01 -1.83143494e-02 1.03224127e-01] [ 6.86931717e-02 1.87534161e-02 9.97461557e-01 7.93762253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.922557844 meters Centerline goodness : 0.160238 with order 1 Centerline is valid? [False, False] Translation: X:-13.27, Y:0.10, Z:0.79 [[ 9.97521468e-01 3.83554303e-03 -7.02581640e-02 -1.32656507e+01] [-5.24028988e-03 9.99789818e-01 -1.98206828e-02 9.97026289e-02] [ 7.01673739e-02 2.01397297e-02 9.97331906e-01 7.91333968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.982557844 meters Centerline goodness : 0.316748 with order 3 Centerline is valid? [False, False] Translation: X:-13.27, Y:0.09, Z:0.79 [[ 9.97638732e-01 1.89171802e-03 -6.86540710e-02 -1.32729982e+01] [-3.34966683e-03 9.99771183e-01 -2.11272571e-02 9.46914207e-02] [ 6.85983950e-02 2.13073382e-02 9.97416792e-01 7.94633376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.042557844 meters Centerline goodness : 0.140975 with order 3 Centerline is valid? [False, False] Translation: X:-13.32, Y:0.09, Z:0.79 [[ 9.97509555e-01 2.16942143e-03 -7.04980912e-02 -1.33210849e+01] [-3.60396813e-03 9.99788899e-01 -2.02279119e-02 8.89342683e-02] [ 7.04393261e-02 2.04316083e-02 9.97306799e-01 7.93327230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.102557844 meters Centerline goodness : 0.135927 with order 3 Centerline is valid? [False, False] Translation: X:-13.32, Y:0.09, Z:0.79 [[ 9.97408222e-01 2.77174459e-03 -7.18968391e-02 -1.33166003e+01] [-4.20738234e-03 9.99794627e-01 -1.98242705e-02 8.85873691e-02] [ 7.18271256e-02 2.00753879e-02 9.97215043e-01 7.91855724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.162557844 meters Centerline goodness : 0.300455 with order 2 Centerline is valid? [False, False] Translation: X:-13.32, Y:0.09, Z:0.79 [[ 9.97392306e-01 3.48310768e-03 -7.20864441e-02 -1.33159621e+01] [-4.90736144e-03 9.99796056e-01 -1.95899139e-02 8.94320375e-02] [ 7.20035087e-02 1.98925836e-02 9.97205987e-01 7.91454243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.222557844 meters Centerline goodness : 0.138530 with order 3 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.10, Z:0.80 [[ 9.97556575e-01 -2.97224163e-03 -6.98000409e-02 -1.33013391e+01] [ 1.75126528e-03 9.99844503e-01 -1.75471712e-02 9.79018544e-02] [ 6.98413416e-02 1.73820576e-02 9.97406663e-01 7.95308005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.282557844 meters Centerline goodness : 0.213133 with order 1 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.10, Z:0.80 [[ 9.97568704e-01 -3.04911462e-03 -6.96231510e-02 -1.33018738e+01] [ 1.82326425e-03 9.99842322e-01 -1.76637005e-02 9.84353861e-02] [ 6.96660316e-02 1.74938134e-02 9.97416969e-01 7.95382139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.342557844 meters Centerline goodness : 0.140400 with order 3 Centerline is valid? [False, False] Translation: X:-13.30, Y:0.10, Z:0.80 [[ 9.97546197e-01 -3.29199732e-03 -6.99338825e-02 -1.33013012e+01] [ 2.04030558e-03 9.99836586e-01 -1.79621129e-02 9.95000499e-02] [ 6.99815856e-02 1.77753509e-02 9.97389901e-01 7.95766028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.402557844 meters Centerline goodness : 0.195133 with order 3 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.10, Z:0.79 [[ 9.97370744e-01 -3.40787025e-03 -7.23877385e-02 -1.33480951e+01] [ 2.14914567e-03 9.99845263e-01 -1.74594197e-02 9.76343225e-02] [ 7.24360368e-02 1.72579427e-02 9.97223738e-01 7.94552231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.462557844 meters Centerline goodness : 0.165889 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.10, Z:0.80 [[ 9.97376420e-01 -3.68327916e-03 -7.22959846e-02 -1.33486956e+01] [ 2.39100135e-03 9.99835969e-01 -1.79532326e-02 9.97757775e-02] [ 7.23502526e-02 1.77332710e-02 9.97221626e-01 7.95041308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.522557844 meters Centerline goodness : 0.169339 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.10, Z:0.80 [[ 9.97391426e-01 -3.73259779e-03 -7.20861339e-02 -1.33494523e+01] [ 2.44381585e-03 9.99835750e-01 -1.79582905e-02 9.96973730e-02] [ 7.21413249e-02 1.77352797e-02 9.97236727e-01 7.95347378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.582557844 meters Centerline goodness : 0.162382 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.10, Z:0.80 [[ 9.97423259e-01 -3.67568527e-03 -7.16472713e-02 -1.33510204e+01] [ 2.41287913e-03 9.99840362e-01 -1.77039083e-02 9.84863287e-02] [ 7.17009077e-02 1.74854137e-02 9.97272902e-01 7.96002928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.642557844 meters Centerline goodness : 0.167149 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.10, Z:0.80 [[ 9.97392038e-01 -3.70844922e-03 -7.20789092e-02 -1.33494371e+01] [ 2.43140521e-03 9.99838665e-01 -1.77969773e-02 9.86544142e-02] [ 7.21332795e-02 1.75753105e-02 9.97240141e-01 7.95297868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.702557844 meters Centerline goodness : 0.151800 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.10, Z:0.80 [[ 9.97461788e-01 -1.48839111e-03 -7.11882393e-02 -1.33539970e+01] [ 3.52786163e-04 9.99872536e-01 -1.59620562e-02 1.00282189e-01] [ 7.12029231e-02 1.58964269e-02 9.97335173e-01 7.97395784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.762557844 meters Centerline goodness : 0.155886 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.11, Z:0.80 [[ 9.97452750e-01 1.69789364e-03 -7.13100815e-02 -1.33539794e+01] [-2.68516789e-03 9.99901842e-01 -1.37512270e-02 1.05097989e-01] [ 7.12797337e-02 1.39076787e-02 9.97359402e-01 7.97426431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.822557844 meters Centerline goodness : 0.152737 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.11, Z:0.80 [[ 9.97413554e-01 2.11791898e-03 -7.18450880e-02 -1.33522006e+01] [-3.13032695e-03 9.99897349e-01 -1.39818738e-02 1.08222223e-01] [ 7.18081006e-02 1.41706090e-02 9.97317798e-01 7.96606536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.882557844 meters Centerline goodness : 0.156782 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.11, Z:0.80 [[ 9.97406864e-01 1.93019235e-03 -7.19431810e-02 -1.33515712e+01] [-2.99146570e-03 9.99888256e-01 -1.46467219e-02 1.11848594e-01] [ 7.19068708e-02 1.48239565e-02 9.97301184e-01 7.95872148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.942557844 meters Centerline goodness : 0.115612 with order 2 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.11, Z:0.80 [[ 9.97375676e-01 1.63470700e-03 -7.23815558e-02 -1.33504764e+01] [-2.72830372e-03 9.99883584e-01 -1.50124857e-02 1.13046391e-01] [ 7.23485885e-02 1.51705670e-02 9.97264025e-01 7.95892072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.002557844 meters Centerline goodness : 0.152910 with order 1 Centerline is valid? [False, False] Translation: X:-13.35, Y:0.11, Z:0.80 [[ 9.97362680e-01 1.52721701e-03 -7.25627484e-02 -1.33500020e+01] [-2.63029935e-03 9.99882398e-01 -1.51086477e-02 1.13206631e-01] [ 7.25311407e-02 1.52596631e-02 9.97249405e-01 7.95875631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.062557844 meters Centerline goodness : 0.101853 with order 2 Centerline is valid? [False, False] Translation: X:-13.33, Y:0.12, Z:0.80 [[ 9.97453398e-01 -6.27006710e-03 -7.10450983e-02 -1.33313354e+01] [ 5.30626279e-03 9.99891430e-01 -1.37467120e-02 1.19778030e-01] [ 7.11235777e-02 1.33347207e-02 9.97378374e-01 7.98584462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.122557844 meters Centerline goodness : 0.163216 with order 1 Centerline is valid? [False, False] Translation: X:-13.38, Y:0.12, Z:0.80 [[ 9.97282570e-01 -8.38122646e-03 -7.31931033e-02 -1.33786067e+01] [ 7.31321311e-03 9.99863024e-01 -1.48475529e-02 1.15774901e-01] [ 7.33075183e-02 1.42719290e-02 9.97207260e-01 7.97392171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18255784400003 meters Centerline goodness : 0.162184 with order 1 Centerline is valid? [False, False] Translation: X:-13.38, Y:0.11, Z:0.80 [[ 9.97234109e-01 -8.73357540e-03 -7.38095955e-02 -1.33768119e+01] [ 7.65619688e-03 9.99860166e-01 -1.48670844e-02 1.14330465e-01] [ 7.39291172e-02 1.42608628e-02 9.97161528e-01 7.97189937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24255784400003 meters Centerline goodness : 0.187079 with order 3 Centerline is valid? [False, False] Translation: X:-13.38, Y:0.11, Z:0.80 [[ 9.97249873e-01 -8.56012011e-03 -7.36166836e-02 -1.33774190e+01] [ 7.51468268e-03 9.99867118e-01 -1.44663712e-02 1.12610399e-01] [ 7.37307351e-02 1.38733808e-02 9.97181683e-01 7.97355191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30255784400003 meters Centerline goodness : 0.114617 with order 2 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.10, Z:0.79 [[ 9.97281651e-01 -2.21186424e-03 -7.36506415e-02 -1.33939702e+01] [ 1.02053271e-03 9.99868102e-01 -1.62091454e-02 1.01250384e-01] [ 7.36767795e-02 1.60899204e-02 9.97152369e-01 7.92787946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36255784400004 meters Centerline goodness : 0.112745 with order 2 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.10, Z:0.79 [[ 9.97253847e-01 -1.84604368e-03 -7.40361869e-02 -1.33924107e+01] [ 7.20090023e-04 9.99883728e-01 -1.52319635e-02 9.59417279e-02] [ 7.40556974e-02 1.51368214e-02 9.97139223e-01 7.92030061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.422557844 meters Centerline goodness : 0.109689 with order 2 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.09, Z:0.79 [[ 9.97267236e-01 -1.69313908e-03 -7.38592772e-02 -1.33932326e+01] [ 6.04977351e-04 9.99890989e-01 -1.47527901e-02 9.29811216e-02] [ 7.38762043e-02 1.46677910e-02 9.97159547e-01 7.92548725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.482557844 meters Centerline goodness : 0.142851 with order 3 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.09, Z:0.79 [[ 9.97250670e-01 -1.45751665e-03 -7.40876233e-02 -1.33921428e+01] [ 3.94182306e-04 9.99896741e-01 -1.43649847e-02 9.14881113e-02] [ 7.41009103e-02 1.42962866e-02 9.97148269e-01 7.91777857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.542557844 meters Centerline goodness : 0.142241 with order 3 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.09, Z:0.79 [[ 9.97274494e-01 -1.21757691e-03 -7.37706027e-02 -1.33931989e+01] [ 1.94967396e-04 9.99903821e-01 -1.38676350e-02 8.91504967e-02] [ 7.37803924e-02 1.38154558e-02 9.97178814e-01 7.92097994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.602557844 meters Centerline goodness : 0.139367 with order 3 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.09, Z:0.79 [[ 9.97272091e-01 -1.12617585e-03 -7.38045225e-02 -1.33932005e+01] [ 1.29182721e-04 9.99908701e-01 -1.35119458e-02 8.71738540e-02] [ 7.38130011e-02 1.34655522e-02 9.97181187e-01 7.92225478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.662557844 meters Centerline goodness : 0.404798 with order 1 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.08, Z:0.79 [[ 9.97320017e-01 -1.34589219e-03 -7.31503346e-02 -1.33954227e+01] [ 3.82186577e-04 9.99912978e-01 -1.31867167e-02 8.49152465e-02] [ 7.31617169e-02 1.31234195e-02 9.97233743e-01 7.93093095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.722557844 meters Centerline goodness : 0.136799 with order 3 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.08, Z:0.79 [[ 9.97429469e-01 -2.31118481e-03 -7.16178291e-02 -1.34002095e+01] [ 1.34557823e-03 9.99907586e-01 -1.35280817e-02 8.32910523e-02] [ 7.16424765e-02 1.33969399e-02 9.97340402e-01 7.94444306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.782557844 meters Centerline goodness : 0.138754 with order 3 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.08, Z:0.79 [[ 9.97417572e-01 -6.43244720e-03 -7.15318895e-02 -1.34004629e+01] [ 5.24948816e-03 9.99846544e-01 -1.67132223e-02 7.91168176e-02] [ 7.16284194e-02 1.62945558e-02 9.97298279e-01 7.94509601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.842557844 meters Centerline goodness : 0.142081 with order 3 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.07, Z:0.79 [[ 9.97396982e-01 -6.80929152e-03 -7.17836619e-02 -1.33997496e+01] [ 5.66026424e-03 9.99852781e-01 -1.61980951e-02 7.45850269e-02] [ 7.18833915e-02 1.57496167e-02 9.97288688e-01 7.94516720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.902557844 meters Centerline goodness : 0.141831 with order 3 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.07, Z:0.80 [[ 9.97469667e-01 -7.51408822e-03 -7.06951365e-02 -1.34031628e+01] [ 6.39541387e-03 9.99850946e-01 -1.60369853e-02 6.92675795e-02] [ 7.08051024e-02 1.55442818e-02 9.97369045e-01 7.95429536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.962557844 meters Centerline goodness : 0.198039 with order 3 Centerline is valid? [False, False] Translation: X:-13.42, Y:0.06, Z:0.79 [[ 9.97486691e-01 -2.24927412e-03 -7.08183673e-02 -1.34227525e+01] [ 9.56783751e-04 9.99832460e-01 -1.82794134e-02 5.70730420e-02] [ 7.08476178e-02 1.81657137e-02 9.97321724e-01 7.92055131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.022557844 meters Centerline goodness : 0.148042 with order 3 Centerline is valid? [False, False] Translation: X:-13.42, Y:0.05, Z:0.79 [[ 9.97367842e-01 -4.13034601e-03 -7.23901060e-02 -1.34157347e+01] [ 2.72672660e-03 9.99806572e-01 -1.94777676e-02 5.14895504e-02] [ 7.24565537e-02 1.92291110e-02 9.97186186e-01 7.88821902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.082557844 meters Centerline goodness : 0.131690 with order 3 Centerline is valid? [False, False] Translation: X:-13.42, Y:0.04, Z:0.79 [[ 9.97340938e-01 -7.62474673e-03 -7.24770091e-02 -1.34150923e+01] [ 6.05744194e-03 9.99743562e-01 -2.18201144e-02 4.44040967e-02] [ 7.26247961e-02 2.13230681e-02 9.97131368e-01 7.88102667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.142557844 meters Centerline goodness : 0.208115 with order 3 Centerline is valid? [False, False] Translation: X:-13.42, Y:0.04, Z:0.79 [[ 9.97367077e-01 -7.62486801e-03 -7.21164013e-02 -1.34163599e+01] [ 6.12073091e-03 9.99759580e-01 -2.10551181e-02 4.01412905e-02] [ 7.22596056e-02 2.05582765e-02 9.97173960e-01 7.88255801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.202557844 meters Centerline goodness : 0.151466 with order 3 Centerline is valid? [False, False] Translation: X:-13.44, Y:0.03, Z:0.78 [[ 9.97468400e-01 -2.55628973e-03 -7.10651531e-02 -1.34351067e+01] [ 9.06008391e-04 9.99729397e-01 -2.32446308e-02 2.62640800e-02] [ 7.11053426e-02 2.31213991e-02 9.97200798e-01 7.84901564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.262557844 meters Centerline goodness : 0.155508 with order 2 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.02, Z:0.78 [[ 9.97439869e-01 -2.25557878e-03 -7.14746055e-02 -1.34334869e+01] [ 6.73960472e-04 9.99754547e-01 -2.21447895e-02 2.19962196e-02] [ 7.15070112e-02 2.20399249e-02 9.97196565e-01 7.83491313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.322557844 meters Centerline goodness : 0.151277 with order 2 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.02, Z:0.78 [[ 9.97421521e-01 -2.55250164e-03 -7.17202444e-02 -1.34331892e+01] [ 9.79549233e-04 9.99758405e-01 -2.19583954e-02 2.02607077e-02] [ 7.17589660e-02 2.18315227e-02 9.97183050e-01 7.83959087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.382557844 meters Centerline goodness : 0.205940 with order 3 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.02, Z:0.78 [[ 9.97425822e-01 -2.63368700e-03 -7.16574727e-02 -1.34335467e+01] [ 1.05903891e-03 9.99757327e-01 -2.20037779e-02 2.10016768e-02] [ 7.16980344e-02 2.18712482e-02 9.97186562e-01 7.84213296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.442557844 meters Centerline goodness : 0.164058 with order 2 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.02, Z:0.78 [[ 9.97453977e-01 -2.90397782e-03 -7.12539848e-02 -1.34348304e+01] [ 1.32682721e-03 9.99753300e-01 -2.21715647e-02 2.20970926e-02] [ 7.13007921e-02 2.20205737e-02 9.97211759e-01 7.84554221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.502557844 meters Centerline goodness : 0.142215 with order 3 Centerline is valid? [False, False] Translation: X:-13.42, Y:0.03, Z:0.79 [[ 9.97595678e-01 -1.10298763e-02 -6.84193369e-02 -1.34153675e+01] [ 9.57580390e-03 9.99722040e-01 -2.15440535e-02 2.60280161e-02] [ 6.86379473e-02 2.08370845e-02 9.97424006e-01 7.87006797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.562557844 meters Centerline goodness : 0.125019 with order 1 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.02, Z:0.78 [[ 9.97682383e-01 -2.29480054e-03 -6.80043805e-02 -1.34346185e+01] [ 7.85940069e-04 9.99753104e-01 -2.22061490e-02 2.20604998e-02] [ 6.80385492e-02 2.21012363e-02 9.97437863e-01 7.83976080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.622557844 meters Centerline goodness : 0.150935 with order 2 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.02, Z:0.78 [[ 9.97655749e-01 -2.51031570e-03 -6.83864429e-02 -1.34333606e+01] [ 9.72879787e-04 9.99746243e-01 -2.25056241e-02 2.43090133e-02] [ 6.84255856e-02 2.23863334e-02 9.97405029e-01 7.83645218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68255784400003 meters Centerline goodness : 0.253219 with order 3 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.03, Z:0.78 [[ 9.97649069e-01 6.95475881e-04 -6.85262801e-02 -1.34334443e+01] [-2.04637912e-03 9.99804916e-01 -1.96454269e-02 2.73398643e-02] [ 6.84992487e-02 1.97394726e-02 9.97455867e-01 7.84265409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74255784400003 meters Centerline goodness : 0.339936 with order 1 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.03, Z:0.78 [[ 9.97613875e-01 4.28216373e-03 -6.89073297e-02 -1.34321218e+01] [-5.42484832e-03 9.99850723e-01 -1.64043426e-02 2.98174710e-02] [ 6.88267973e-02 1.67390116e-02 9.97488184e-01 7.83925076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80255784400003 meters Centerline goodness : 0.252527 with order 3 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.03, Z:0.78 [[ 9.97543915e-01 7.83106648e-03 -6.96046785e-02 -1.34292387e+01] [-8.79851497e-03 9.99868757e-01 -1.36034873e-02 3.47641127e-02] [ 6.94890136e-02 1.41824938e-02 9.97481897e-01 7.82732722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86255784400004 meters Centerline goodness : 0.198972 with order 3 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.04, Z:0.78 [[ 9.97536919e-01 7.68468534e-03 -6.97211622e-02 -1.34289768e+01] [-8.67792806e-03 9.99864977e-01 -1.39542409e-02 3.70821491e-02] [ 6.96045143e-02 1.45249057e-02 9.97468916e-01 7.82841649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.922557844 meters Centerline goodness : 0.196685 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.05, Z:0.79 [[ 9.97417904e-01 1.68844704e-03 -7.17960580e-02 -1.34110486e+01] [-2.61811779e-03 9.99913922e-01 -1.28566370e-02 4.51197109e-02] [ 7.17681702e-02 1.30114105e-02 9.97336469e-01 7.86532116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.982557844 meters Centerline goodness : 0.250077 with order 3 Centerline is valid? [False, False] Translation: X:-13.45, Y:0.05, Z:0.78 [[ 9.97186152e-01 1.99642385e-03 -7.49385860e-02 -1.34547835e+01] [-2.93854832e-03 9.99918006e-01 -1.24637998e-02 4.78025964e-02] [ 7.49075584e-02 1.26489393e-02 9.97110256e-01 7.84494878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.042557844 meters Centerline goodness : 0.140095 with order 3 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.05, Z:0.79 [[ 9.97209236e-01 -2.45313138e-03 -7.46171738e-02 -1.34337968e+01] [ 1.78290602e-03 9.99957481e-01 -9.04747106e-03 5.08769554e-02] [ 7.46361958e-02 8.88918629e-03 9.97171209e-01 7.86897557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.102557844 meters Centerline goodness : 0.158443 with order 2 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.05, Z:0.79 [[ 9.97338054e-01 1.17640019e-03 -7.29069413e-02 -1.33920108e+01] [-1.73760939e-03 9.99969346e-01 -7.63466191e-03 5.43992221e-02] [ 7.28957250e-02 7.74102264e-03 9.97309526e-01 7.90146777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.162557844 meters Centerline goodness : 0.142009 with order 2 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.06, Z:0.79 [[ 9.97328500e-01 5.20769162e-03 -7.28611165e-02 -1.33924715e+01] [-5.52174771e-03 9.99976311e-01 -4.10957357e-03 5.55415637e-02] [ 7.28379891e-02 4.50091555e-03 9.97333630e-01 7.90649574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.222557844 meters Centerline goodness : 0.148772 with order 3 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.06, Z:0.79 [[ 9.97310183e-01 5.94548376e-03 -7.30551156e-02 -1.33924821e+01] [-6.26047723e-03 9.99972065e-01 -4.08349249e-03 5.79887032e-02] [ 7.30287965e-02 4.52986853e-03 9.97319545e-01 7.91428199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.282557844 meters Centerline goodness : 0.148206 with order 3 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.06, Z:0.79 [[ 9.97306623e-01 5.97512177e-03 -7.31012812e-02 -1.33923713e+01] [-6.30520102e-03 9.99970939e-01 -4.28543258e-03 5.92810074e-02] [ 7.30735508e-02 4.73480857e-03 9.97315315e-01 7.91444220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.342557844 meters Centerline goodness : 0.142558 with order 3 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.06, Z:0.79 [[ 9.97334036e-01 6.14367406e-03 -7.27122764e-02 -1.33938539e+01] [-6.45701080e-03 9.99970850e-01 -4.07498812e-03 5.88837051e-02] [ 7.26851215e-02 4.53362830e-03 9.97344634e-01 7.92149442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.402557844 meters Centerline goodness : 0.144341 with order 3 Centerline is valid? [False, False] Translation: X:-13.37, Y:0.06, Z:0.79 [[ 9.97484868e-01 -1.84202470e-03 -7.08558115e-02 -1.33744350e+01] [ 1.61918678e-03 9.99993562e-01 -3.20225722e-03 6.25357552e-02] [ 7.08612540e-02 3.07947432e-03 9.97481428e-01 7.94641598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.462557844 meters Centerline goodness : 0.143358 with order 3 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.06, Z:0.79 [[ 9.97438034e-01 7.33464759e-03 -7.11587733e-02 -1.33969781e+01] [-7.59414228e-03 9.99965462e-01 -3.37684407e-03 6.01557833e-02] [ 7.11315477e-02 3.90858256e-03 9.97459285e-01 7.93282195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.522557844 meters Centerline goodness : 0.140525 with order 3 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.06, Z:0.79 [[ 9.97436262e-01 7.63841260e-03 -7.11516594e-02 -1.33969966e+01] [-7.92416241e-03 9.99961629e-01 -3.73466238e-03 6.34386813e-02] [ 7.11204024e-02 4.28890499e-03 9.97458517e-01 7.93278579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.582557844 meters Centerline goodness : 0.147145 with order 3 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.07, Z:0.79 [[ 9.97355886e-01 1.06621449e-02 -7.18857066e-02 -1.33943159e+01] [-1.08194565e-02 9.99939849e-01 -1.79931514e-03 6.98992716e-02] [ 7.18621980e-02 2.57232182e-03 9.97411253e-01 7.92464500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.642557844 meters Centerline goodness : 0.149301 with order 3 Centerline is valid? [False, False] Translation: X:-13.39, Y:0.07, Z:0.79 [[ 9.97351136e-01 1.05934004e-02 -7.19617352e-02 -1.33941687e+01] [-1.07740538e-02 9.99939705e-01 -2.12269915e-03 7.19557975e-02] [ 7.19349097e-02 2.89239602e-03 9.97405135e-01 7.92476608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.702557844 meters Centerline goodness : 0.146339 with order 3 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.08, Z:0.79 [[ 9.97416134e-01 2.18540798e-03 -7.18072392e-02 -1.34138929e+01] [-2.25075538e-03 9.99997123e-01 -8.29136992e-04 7.51264357e-02] [ 7.18052206e-02 9.88615143e-04 9.97418184e-01 7.89338236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.762557844 meters Centerline goodness : 0.145799 with order 3 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.07, Z:0.79 [[ 9.97387460e-01 2.13177581e-03 -7.22060323e-02 -1.34123463e+01] [-2.20398606e-03 9.99997148e-01 -9.20398555e-04 7.49027186e-02] [ 7.22038643e-02 1.07713506e-03 9.97389313e-01 7.88641628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.822557844 meters Centerline goodness : 0.136710 with order 3 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.08, Z:0.79 [[ 9.97377717e-01 2.47028131e-03 -7.23297085e-02 -1.34117405e+01] [-2.53844976e-03 9.99996416e-01 -8.50560152e-04 7.57227667e-02] [ 7.23273482e-02 1.03193507e-03 9.97380414e-01 7.88144857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.882557844 meters Centerline goodness : 0.131103 with order 3 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.08, Z:0.79 [[ 9.97295029e-01 4.29847347e-03 -7.33767522e-02 -1.34069940e+01] [-4.28399914e-03 9.99990761e-01 3.54645205e-04 7.61381320e-02] [ 7.33775986e-02 -3.93399570e-05 9.97304230e-01 7.85798107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.942557844 meters Centerline goodness : 0.146404 with order 2 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.08, Z:0.79 [[ 9.97249770e-01 4.67550890e-03 -7.39664500e-02 -1.34051209e+01] [-4.66669598e-03 9.99989068e-01 2.91974142e-04 7.74692340e-02] [ 7.39670066e-02 5.40077894e-05 9.97260688e-01 7.85118538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.002557844 meters Centerline goodness : 0.400026 with order 1 Centerline is valid? [False, False] Translation: X:-13.40, Y:0.08, Z:0.78 [[ 9.97243458e-01 4.56556318e-03 -7.40583567e-02 -1.34047555e+01] [-4.58131357e-03 9.99989505e-01 -4.28003614e-05 7.91153066e-02] [ 7.40573840e-02 3.81966934e-04 9.97253908e-01 7.84854710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.062557844 meters Centerline goodness : 0.128737 with order 3 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.08, Z:0.78 [[ 9.97263169e-01 -2.68494469e-03 -7.38847944e-02 -1.34289501e+01] [ 2.82424560e-03 9.99994426e-01 1.78096720e-03 8.34328969e-02] [ 7.38796008e-02 -1.98476180e-03 9.97265193e-01 7.83856774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.122557844 meters Centerline goodness : 0.159844 with order 1 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.09, Z:0.78 [[ 9.97276604e-01 -2.90146798e-03 -7.36950261e-02 -1.34301546e+01] [ 2.99743014e-03 9.99994798e-01 1.19158732e-03 8.67073007e-02] [ 7.36911854e-02 -1.40923784e-03 9.97280113e-01 7.84722409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18255784400003 meters Centerline goodness : 0.204730 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97441309e-01 2.37428922e-03 -7.14506631e-02 -1.34076067e+01] [-2.52834112e-03 9.99994670e-01 -2.06569557e-03 8.82131431e-02] [ 7.14453777e-02 2.24106175e-03 9.97441996e-01 7.85341439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24255784400003 meters Centerline goodness : 0.156392 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97482220e-01 1.71641480e-03 -7.08962309e-02 -1.34094321e+01] [-1.87100030e-03 9.99996015e-01 -2.11409784e-03 8.68550613e-02] [ 7.08923197e-02 2.24142188e-03 9.97481456e-01 7.86077907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30255784400003 meters Centerline goodness : 0.368930 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97545464e-01 1.44995152e-03 -7.00067461e-02 -1.34122921e+01] [-1.59594783e-03 9.99996667e-01 -2.02957345e-03 8.55332241e-02] [ 7.00035700e-02 2.13631891e-03 9.97544453e-01 7.87109922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36255784400004 meters Centerline goodness : 0.409494 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97521002e-01 1.44122186e-03 -7.03546327e-02 -1.34112112e+01] [-1.58421275e-03 9.99996792e-01 -1.97667508e-03 8.50179209e-02] [ 7.03515581e-02 2.08323161e-03 9.97520084e-01 7.86870386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.422557844 meters Centerline goodness : 0.153441 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97495496e-01 1.60075262e-03 -7.07119038e-02 -1.34101868e+01] [-1.75221746e-03 9.99996302e-01 -2.08002224e-03 8.62963741e-02] [ 7.07083127e-02 2.19871545e-03 9.97494612e-01 7.86648435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.482557844 meters Centerline goodness : 0.409137 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97495833e-01 1.55022183e-03 -7.07082670e-02 -1.34102939e+01] [-1.71570185e-03 9.99995930e-01 -2.27964754e-03 8.67583522e-02] [ 7.07044453e-02 2.39525322e-03 9.97494433e-01 7.86686775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.542557844 meters Centerline goodness : 0.150834 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97486225e-01 1.72835472e-03 -7.08395600e-02 -1.34097516e+01] [-1.87747238e-03 9.99996160e-01 -2.03847613e-03 8.60350415e-02] [ 7.08357647e-02 2.16635117e-03 9.97485640e-01 7.86378331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.602557844 meters Centerline goodness : 0.131204 with order 3 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.08, Z:0.79 [[ 9.97486334e-01 1.72591568e-03 -7.08380856e-02 -1.34101536e+01] [-1.86585508e-03 9.99996436e-01 -1.90936007e-03 8.40339543e-02] [ 7.08345377e-02 2.03673418e-03 9.97486000e-01 7.86900661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.662557844 meters Centerline goodness : 0.143848 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97549397e-01 2.34336241e-03 -6.99264609e-02 -1.34128602e+01] [-2.46520573e-03 9.99995590e-01 -1.65620303e-03 8.50427054e-02] [ 6.99222714e-02 1.82452744e-03 9.97550774e-01 7.87339953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.722557844 meters Centerline goodness : 0.143194 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97495778e-01 6.25375885e-03 -7.04490181e-02 -1.34107593e+01] [-6.18278296e-03 9.99980135e-01 1.22549226e-03 8.98768633e-02] [ 7.04552826e-02 -7.86852363e-04 9.97514628e-01 7.86206392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.782557844 meters Centerline goodness : 0.128501 with order 3 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.09, Z:0.79 [[ 9.97509717e-01 6.13636962e-03 -7.02617242e-02 -1.34114217e+01] [-6.09790484e-03 9.99981117e-01 7.61928644e-04 9.23805498e-02] [ 7.02650729e-02 -3.31581918e-04 9.97528300e-01 7.86345529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.842557844 meters Centerline goodness : 0.151905 with order 1 Centerline is valid? [False, False] Translation: X:-13.41, Y:0.10, Z:0.79 [[ 9.97556958e-01 6.07135607e-03 -6.95934900e-02 -1.34137581e+01] [-6.06928112e-03 9.99981553e-01 2.41264848e-04 9.58534788e-02] [ 6.95936709e-02 1.81707027e-04 9.97575405e-01 7.87063617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.902557844 meters Centerline goodness : 0.147980 with order 1 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.10, Z:0.78 [[ 9.97534229e-01 -3.03468710e-03 -7.01159909e-02 -1.34345153e+01] [ 3.10659950e-03 9.99994754e-01 9.16597720e-04 1.00456967e-01] [ 7.01128415e-02 -1.13215990e-03 9.97538424e-01 7.84331614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.962557844 meters Centerline goodness : 0.148696 with order 1 Centerline is valid? [False, False] Translation: X:-13.44, Y:0.10, Z:0.78 [[ 9.97542638e-01 -3.38432294e-03 -6.99802258e-02 -1.34351715e+01] [ 3.46060129e-03 9.99993543e-01 9.68791659e-04 9.94901527e-02] [ 6.99764952e-02 -1.20858465e-03 9.97547908e-01 7.84888388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.022557844 meters Centerline goodness : 0.132739 with order 3 Centerline is valid? [False, False] Translation: X:-13.44, Y:0.10, Z:0.79 [[ 9.97517460e-01 -7.94979017e-03 -6.99694044e-02 -1.34356831e+01] [ 7.78044073e-03 9.99966107e-01 -2.69253765e-03 9.64521739e-02] [ 6.99884381e-02 2.14146052e-03 9.97545504e-01 7.85795922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.082557844 meters Centerline goodness : 0.113573 with order 2 Centerline is valid? [False, False] Translation: X:-13.43, Y:0.10, Z:0.78 [[ 9.97439954e-01 -8.08840380e-03 -7.10500961e-02 -1.34321578e+01] [ 7.92884494e-03 9.99965372e-01 -2.52747006e-03 9.50285639e-02] [ 7.10680789e-02 1.95765443e-03 9.97469546e-01 7.84798127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.142557844 meters Centerline goodness : 0.148485 with order 1 Centerline is valid? [False, False] Translation: X:-13.48, Y:0.09, Z:0.78 [[ 9.97295147e-01 -9.84060417e-03 -7.28392168e-02 -1.34803370e+01] [ 9.61211827e-03 9.99947724e-01 -3.48673209e-03 8.98944669e-02] [ 7.28697206e-02 2.77716182e-03 9.97337601e-01 7.84066524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.202557844 meters Centerline goodness : 0.143004 with order 1 Centerline is valid? [False, False] Translation: X:-13.48, Y:0.09, Z:0.78 [[ 9.97313447e-01 -9.70151578e-03 -7.26069472e-02 -1.34812205e+01] [ 9.47010581e-03 9.99948924e-01 -3.53074202e-03 9.09302843e-02] [ 7.26374923e-02 2.83366102e-03 9.97354383e-01 7.84404566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.262557844 meters Centerline goodness : 0.134370 with order 3 Centerline is valid? [False, False] Translation: X:-13.50, Y:0.09, Z:0.78 [[ 9.97113633e-01 -1.37884590e-03 -7.59111468e-02 -1.34973637e+01] [ 9.93310151e-04 9.99986418e-01 -5.11629842e-03 9.10298873e-02] [ 7.59171704e-02 5.02612759e-03 9.97101460e-01 7.80818009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.322557844 meters Centerline goodness : 0.146634 with order 1 Centerline is valid? [False, False] Translation: X:-13.50, Y:0.09, Z:0.78 [[ 9.97131844e-01 -1.45386299e-03 -7.56701545e-02 -1.34979313e+01] [ 1.03709389e-03 9.99984079e-01 -5.54671140e-03 9.35941128e-02] [ 7.56770139e-02 5.45232551e-03 9.97117476e-01 7.80643700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.382557844 meters Centerline goodness : 0.314070 with order 1 Centerline is valid? [False, False] Translation: X:-13.48, Y:0.10, Z:0.78 [[ 9.97403194e-01 2.99715227e-03 -7.19575337e-02 -1.34768164e+01] [-3.69106967e-03 9.99947944e-01 -9.51239411e-03 9.62916524e-02] [ 7.19252777e-02 9.75329254e-03 9.97362335e-01 7.81831756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.442557844 meters Centerline goodness : 0.146735 with order 1 Centerline is valid? [False, False] Translation: X:-13.50, Y:0.10, Z:0.78 [[ 9.97314651e-01 -3.97170573e-03 -7.31280612e-02 -1.34993085e+01] [ 3.48040562e-03 9.99970519e-01 -6.84455621e-03 9.79128241e-02] [ 7.31530898e-02 6.57166087e-03 9.97299072e-01 7.81150841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.502557844 meters Centerline goodness : 0.336945 with order 1 Centerline is valid? [False, False] Translation: X:-13.48, Y:0.10, Z:0.78 [[ 9.97358776e-01 4.58996772e-03 -7.24872723e-02 -1.34798294e+01] [-5.16666094e-03 9.99956463e-01 -7.77028466e-03 9.57192703e-02] [ 7.24484511e-02 8.12427875e-03 9.97339069e-01 7.83855946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.562557844 meters Centerline goodness : 0.147166 with order 1 Centerline is valid? [False, False] Translation: X:-13.53, Y:0.09, Z:0.78 [[ 9.97174398e-01 4.86115383e-03 -7.49639156e-02 -1.35265787e+01] [-5.40691837e-03 9.99960325e-01 -7.07913407e-03 9.22444180e-02] [ 7.49265287e-02 7.46445503e-03 9.97161119e-01 7.82889663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.622557844 meters Centerline goodness : 0.116016 with order 2 Centerline is valid? [False, False] Translation: X:-13.51, Y:0.10, Z:0.79 [[ 9.97228278e-01 -2.49249131e-03 -7.43609315e-02 -1.35079838e+01] [ 2.06125799e-03 9.99980615e-01 -5.87537334e-03 9.65539557e-02] [ 7.43741344e-02 5.70581138e-03 9.97214085e-01 7.85424067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68255784400003 meters Centerline goodness : 0.135007 with order 3 Centerline is valid? [False, False] Translation: X:-13.51, Y:0.09, Z:0.79 [[ 9.97229189e-01 -2.44144102e-03 -7.43504158e-02 -1.35082591e+01] [ 2.02633267e-03 9.99981940e-01 -5.65805643e-03 9.49177204e-02] [ 7.43628868e-02 5.49172034e-03 9.97216126e-01 7.85742470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74255784400003 meters Centerline goodness : 0.161558 with order 1 Centerline is valid? [False, False] Translation: X:-13.51, Y:0.09, Z:0.79 [[ 9.97269786e-01 -2.19125204e-03 -7.38117418e-02 -1.35101081e+01] [ 1.80756250e-03 9.99984508e-01 -5.26461804e-03 9.38994892e-02] [ 7.38221344e-02 5.11682517e-03 9.97258297e-01 7.86418002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80255784400003 meters Centerline goodness : 0.146664 with order 1 Centerline is valid? [False, False] Translation: X:-13.51, Y:0.09, Z:0.79 [[ 9.97259017e-01 -2.19868509e-03 -7.39568682e-02 -1.35098933e+01] [ 1.82809314e-03 9.99985435e-01 -5.07823960e-03 9.24580785e-02] [ 7.39669565e-02 4.92912019e-03 9.97248511e-01 7.86676891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86255784400004 meters Centerline goodness : 0.123400 with order 2 Centerline is valid? [False, False] Translation: X:-13.51, Y:0.09, Z:0.79 [[ 9.97231356e-01 -2.18188679e-03 -7.43294100e-02 -1.35084878e+01] [ 1.81817886e-03 9.99986044e-01 -4.96050436e-03 9.15826277e-02] [ 7.43391959e-02 4.81162632e-03 9.97221406e-01 7.86051801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.922557844 meters Centerline goodness : 0.410623 with order 1 Centerline is valid? [False, False] Translation: X:-13.51, Y:0.09, Z:0.79 [[ 9.97254927e-01 -2.04624822e-03 -7.40163683e-02 -1.35098984e+01] [ 1.71142829e-03 9.99988016e-01 -4.58673410e-03 8.97039127e-02] [ 7.40248669e-02 4.44746948e-03 9.97246479e-01 7.86930323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.982557844 meters Centerline goodness : 0.113778 with order 2 Centerline is valid? [False, False] Translation: X:-13.51, Y:0.09, Z:0.79 [[ 9.97229521e-01 -1.96829319e-03 -7.43599926e-02 -1.35087715e+01] [ 1.62870508e-03 9.99987968e-01 -4.62717537e-03 9.04504079e-02] [ 7.43682055e-02 4.49324538e-03 9.97220728e-01 7.86553420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.042557844 meters Centerline goodness : 0.146412 with order 1 Centerline is valid? [False, False] Translation: X:-13.55, Y:0.09, Z:0.78 [[ 9.96921243e-01 -2.31218795e-03 -7.83753045e-02 -1.35512504e+01] [ 1.94533481e-03 9.99986794e-01 -4.75675124e-03 8.68405037e-02] [ 7.83852680e-02 4.58964015e-03 9.96912576e-01 7.84266095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.102557844 meters Centerline goodness : 0.129545 with order 3 Centerline is valid? [False, False] Translation: X:-13.55, Y:0.09, Z:0.78 [[ 9.96942934e-01 -2.15659019e-03 -7.81033656e-02 -1.35524061e+01] [ 1.80088759e-03 9.99987686e-01 -4.62440344e-03 8.67556893e-02] [ 7.81123768e-02 4.46961096e-03 9.96934541e-01 7.84858608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.162557844 meters Centerline goodness : 0.151970 with order 1 Centerline is valid? [False, False] Translation: X:-13.57, Y:0.08, Z:0.78 [[ 9.96946371e-01 6.10605240e-03 -7.78501782e-02 -1.35739790e+01] [-6.54368529e-03 9.99964184e-01 -5.36761256e-03 8.17743260e-02] [ 7.78146150e-02 5.86064893e-03 9.96950620e-01 7.82769428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.222557844 meters Centerline goodness : 0.142029 with order 1 Centerline is valid? [False, False] Translation: X:-13.58, Y:0.08, Z:0.78 [[ 9.97001449e-01 6.40529761e-03 -7.71173340e-02 -1.35758251e+01] [-6.84731323e-03 9.99961603e-01 -5.46867381e-03 8.37629550e-02] [ 7.70793445e-02 5.98032225e-03 9.97007026e-01 7.82647574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.282557844 meters Centerline goodness : 0.144079 with order 1 Centerline is valid? [False, False] Translation: X:-13.58, Y:0.09, Z:0.78 [[ 9.97014522e-01 6.42836261e-03 -7.69462093e-02 -1.35761624e+01] [-6.89671462e-03 9.99959266e-01 -5.82255938e-03 8.61544919e-02] [ 7.69056455e-02 6.33585231e-03 9.97018244e-01 7.82399986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.342557844 meters Centerline goodness : 0.214416 with order 1 Centerline is valid? [False, False] Translation: X:-13.56, Y:0.09, Z:0.78 [[ 9.97007261e-01 -1.92758338e-03 -7.72839319e-02 -1.35555948e+01] [ 1.48506641e-03 9.99982176e-01 -5.78292295e-03 9.02918281e-02] [ 7.72937015e-02 5.65084440e-03 9.96992353e-01 7.84648046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.402557844 meters Centerline goodness : 0.147918 with order 1 Centerline is valid? [False, False] Translation: X:-13.56, Y:0.09, Z:0.79 [[ 9.97039404e-01 -1.72560786e-03 -7.68729404e-02 -1.35569335e+01] [ 1.32727315e-03 9.99985429e-01 -5.23251858e-03 8.77355957e-02] [ 7.68808496e-02 5.11499582e-03 9.97027167e-01 7.85159158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.462557844 meters Centerline goodness : 0.154435 with order 1 Centerline is valid? [False, False] Translation: X:-13.56, Y:0.08, Z:0.79 [[ 9.96991641e-01 -1.84292244e-03 -7.74872326e-02 -1.35551688e+01] [ 1.47245597e-03 9.99987213e-01 -4.83786266e-03 8.44624233e-02] [ 7.74951576e-02 4.70921209e-03 9.96981607e-01 7.85010638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.522557844 meters Centerline goodness : 0.129610 with order 3 Centerline is valid? [False, False] Translation: X:-13.55, Y:0.08, Z:0.79 [[ 9.96962163e-01 -1.74015009e-03 -7.78679537e-02 -1.35542027e+01] [ 1.39619787e-03 9.99989029e-01 -4.47134577e-03 8.22135552e-02] [ 7.78748802e-02 4.34904348e-03 9.96953654e-01 7.85097145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.582557844 meters Centerline goodness : 0.192396 with order 3 Centerline is valid? [False, False] Translation: X:-13.56, Y:0.08, Z:0.79 [[ 9.96984849e-01 -1.53016977e-03 -7.75813727e-02 -1.35553234e+01] [ 1.22886825e-03 9.99991517e-01 -3.93127570e-03 7.94113860e-02] [ 7.75867302e-02 3.82408502e-03 9.96978272e-01 7.85700429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.642557844 meters Centerline goodness : 0.133630 with order 3 Centerline is valid? [False, False] Translation: X:-13.56, Y:0.08, Z:0.79 [[ 9.96991240e-01 -1.50207564e-03 -7.74997443e-02 -1.35554401e+01] [ 1.20337007e-03 9.99991668e-01 -3.90083476e-03 7.94058231e-02] [ 7.75049579e-02 3.79583721e-03 9.96984741e-01 7.85552060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.702557844 meters Centerline goodness : 0.126330 with order 3 Centerline is valid? [False, False] Translation: X:-13.60, Y:0.08, Z:0.78 [[ 9.96728808e-01 -1.79208209e-03 -8.07989600e-02 -1.35996674e+01] [ 1.50413055e-03 9.99992300e-01 -3.62452746e-03 7.66661840e-02] [ 8.08048333e-02 3.49113875e-03 9.96723829e-01 7.83085586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.762557844 meters Centerline goodness : 0.127865 with order 3 Centerline is valid? [False, False] Translation: X:-13.60, Y:0.08, Z:0.78 [[ 9.96692226e-01 -1.95457348e-03 -8.12452278e-02 -1.35976391e+01] [ 1.63173316e-03 9.99990508e-01 -4.03985789e-03 7.85920198e-02] [ 8.12523529e-02 3.89392442e-03 9.96685955e-01 7.81727054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.822557844 meters Centerline goodness : 0.142662 with order 1 Centerline is valid? [False, False] Translation: X:-13.60, Y:0.08, Z:0.78 [[ 9.96703857e-01 -2.04083445e-03 -8.11002802e-02 -1.35984048e+01] [ 1.69687537e-03 9.99989273e-01 -4.30985358e-03 8.01953978e-02] [ 8.11082059e-02 4.15803062e-03 9.96696629e-01 7.82178911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.882557844 meters Centerline goodness : 0.129911 with order 3 Centerline is valid? [False, False] Translation: X:-13.60, Y:0.08, Z:0.78 [[ 9.96758203e-01 -2.09441966e-03 -8.04282217e-02 -1.36007020e+01] [ 1.70373066e-03 9.99986416e-01 -4.92592888e-03 8.44527523e-02] [ 8.04374462e-02 4.77293199e-03 9.96748231e-01 7.82723264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.942557844 meters Centerline goodness : 0.148441 with order 1 Centerline is valid? [False, False] Translation: X:-13.60, Y:0.09, Z:0.78 [[ 9.96812007e-01 -2.01156056e-03 -7.97607408e-02 -1.36029547e+01] [ 1.60979175e-03 9.99985693e-01 -5.10115672e-03 8.66782956e-02] [ 7.97698610e-02 4.95649608e-03 9.96800984e-01 7.83329803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.002557844 meters Centerline goodness : 0.206449 with order 1 Centerline is valid? [False, False] Translation: X:-13.60, Y:0.09, Z:0.78 [[ 9.96809317e-01 -2.16758772e-03 -7.97902736e-02 -1.36029542e+01] [ 1.74953544e-03 9.99984377e-01 -5.30892559e-03 8.71685332e-02] [ 7.98005346e-02 5.15239058e-03 9.96797536e-01 7.83406494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.062557844 meters Centerline goodness : 0.146801 with order 1 Centerline is valid? [False, False] Translation: X:-13.65, Y:0.08, Z:0.78 [[ 9.96482782e-01 -4.82110260e-03 -8.36589691e-02 -1.36456165e+01] [ 4.27743293e-03 9.99968562e-01 -6.67666343e-03 8.19620655e-02] [ 8.36885279e-02 6.29533451e-03 9.96472076e-01 7.81117927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.122557844 meters Centerline goodness : 0.143228 with order 2 Centerline is valid? [False, False] Translation: X:-13.65, Y:0.08, Z:0.78 [[ 9.96466814e-01 -4.81239917e-03 -8.38494494e-02 -1.36454396e+01] [ 4.29854225e-03 9.99970867e-01 -6.30778466e-03 7.97497394e-02] [ 8.38773622e-02 5.92506768e-03 9.96458470e-01 7.81647929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18255784400003 meters Centerline goodness : 0.406838 with order 1 Centerline is valid? [False, False] Translation: X:-13.65, Y:0.08, Z:0.78 [[ 9.96548540e-01 -7.22880622e-03 -8.26967442e-02 -1.36504490e+01] [ 6.58214847e-03 9.99945615e-01 -8.08958856e-03 7.62548424e-02] [ 8.27507248e-02 7.51734542e-03 9.96541924e-01 7.83658298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24255784400003 meters Centerline goodness : 0.121695 with order 3 Centerline is valid? [False, False] Translation: X:-13.66, Y:0.07, Z:0.79 [[ 9.96649281e-01 -9.45253596e-03 -8.12456844e-02 -1.36568858e+01] [ 8.71326093e-03 9.99917394e-01 -9.44899278e-03 7.02679543e-02] [ 8.13282900e-02 8.70941701e-03 9.96649314e-01 7.86706668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30255784400003 meters Centerline goodness : 0.133680 with order 3 Centerline is valid? [False, False] Translation: X:-13.66, Y:0.07, Z:0.79 [[ 9.96652601e-01 -9.14345648e-03 -8.12403238e-02 -1.36570382e+01] [ 8.47516601e-03 9.99927385e-01 -8.56712837e-03 6.54961146e-02] [ 8.13127578e-02 7.84992554e-03 9.96657722e-01 7.87008921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36255784400004 meters Centerline goodness : 0.122492 with order 3 Centerline is valid? [False, False] Translation: X:-13.66, Y:0.06, Z:0.79 [[ 9.96618894e-01 -8.87440476e-03 -8.16824652e-02 -1.36551025e+01] [ 8.25531717e-03 9.99934609e-01 -7.91380843e-03 6.20149405e-02] [ 8.17473542e-02 7.21273635e-03 9.96626985e-01 7.85935061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.422557844 meters Centerline goodness : 0.129647 with order 3 Centerline is valid? [False, False] Translation: X:-13.65, Y:0.06, Z:0.78 [[ 9.96563814e-01 -8.86016749e-03 -8.23532791e-02 -1.36526428e+01] [ 8.26312260e-03 9.99937071e-01 -7.58780901e-03 5.86191405e-02] [ 8.24153260e-02 6.88124064e-03 9.96574314e-01 7.84982749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.482557844 meters Centerline goodness : 0.119138 with order 3 Centerline is valid? [False, False] Translation: X:-13.65, Y:0.06, Z:0.78 [[ 9.96550407e-01 -8.59203787e-03 -8.25437007e-02 -1.36520232e+01] [ 8.02509873e-03 9.99941894e-01 -7.19768085e-03 5.71926305e-02] [ 8.26007472e-02 6.51043044e-03 9.96561454e-01 7.84757433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.542557844 meters Centerline goodness : 0.121715 with order 3 Centerline is valid? [False, False] Translation: X:-13.67, Y:0.05, Z:0.78 [[ 9.96496585e-01 -5.72615947e-04 -8.36315038e-02 -1.36703700e+01] [-8.88591624e-05 9.99968747e-01 -7.90546473e-03 4.99290631e-02] [ 8.36334169e-02 7.88520003e-03 9.96465391e-01 7.81474088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.602557844 meters Centerline goodness : 0.121141 with order 3 Centerline is valid? [False, False] Translation: X:-13.67, Y:0.05, Z:0.78 [[ 9.96507562e-01 -5.93221823e-04 -8.35004582e-02 -1.36705760e+01] [-6.88962610e-05 9.99968583e-01 -7.92640958e-03 4.98036027e-02] [ 8.35025370e-02 7.90447996e-03 9.96476214e-01 7.81253119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.662557844 meters Centerline goodness : 0.206746 with order 3 Centerline is valid? [False, False] Translation: X:-13.67, Y:0.05, Z:0.78 [[ 9.96533488e-01 -6.31266020e-04 -8.31901988e-02 -1.36718521e+01] [-2.71907715e-05 9.99968686e-01 -7.91370590e-03 4.93717395e-02] [ 8.31925894e-02 7.88853495e-03 9.96502265e-01 7.81868927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.722557844 meters Centerline goodness : 0.130872 with order 3 Centerline is valid? [False, False] Translation: X:-13.67, Y:0.05, Z:0.78 [[ 9.96573802e-01 -6.79117221e-04 -8.27054792e-02 -1.36738689e+01] [ 5.89721145e-05 9.99971870e-01 -7.50044687e-03 4.70343676e-02] [ 8.27082463e-02 7.46987154e-03 9.96545808e-01 7.82922824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.782557844 meters Centerline goodness : 0.142516 with order 1 Centerline is valid? [False, False] Translation: X:-13.72, Y:0.04, Z:0.78 [[ 9.96344704e-01 -2.37757642e-03 -8.53907336e-02 -1.37191049e+01] [ 1.71312039e-03 9.99967691e-01 -7.85379338e-03 4.09044425e-02] [ 8.54066478e-02 7.67880083e-03 9.96316587e-01 7.80820662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.842557844 meters Centerline goodness : 0.121868 with order 3 Centerline is valid? [False, False] Translation: X:-13.70, Y:0.04, Z:0.78 [[ 9.96287986e-01 -1.02930109e-02 -8.54652193e-02 -1.36972908e+01] [ 9.74844809e-03 9.99929452e-01 -6.78665639e-03 4.17175251e-02] [ 8.55290450e-02 5.92831097e-03 9.96318040e-01 7.82883135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.902557844 meters Centerline goodness : 0.122417 with order 3 Centerline is valid? [False, False] Translation: X:-13.72, Y:0.03, Z:0.78 [[ 9.96369633e-01 -4.22819156e-03 -8.50275085e-02 -1.37207116e+01] [ 3.49517726e-03 9.99955453e-01 -8.76792387e-03 3.41748519e-02] [ 8.50607932e-02 8.43890688e-03 9.96340025e-01 7.81798612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.962557844 meters Centerline goodness : 0.141182 with order 1 Centerline is valid? [False, False] Translation: X:-13.72, Y:0.03, Z:0.78 [[ 9.96349816e-01 -3.97989098e-03 -8.52713609e-02 -1.37196641e+01] [ 3.28444788e-03 9.99960207e-01 -8.29438580e-03 3.15084814e-02] [ 8.53009784e-02 7.98404043e-03 9.96323240e-01 7.81250501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.022557844 meters Centerline goodness : 0.131188 with order 1 Centerline is valid? [False, False] Translation: X:-13.72, Y:0.03, Z:0.78 [[ 9.96443025e-01 -3.36111039e-03 -8.42021387e-02 -1.37228595e+01] [ 2.73287997e-03 9.99967574e-01 -7.57513090e-03 2.94004606e-02] [ 8.42248692e-02 7.31807201e-03 9.96419900e-01 7.81814747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.082557844 meters Centerline goodness : 0.141862 with order 1 Centerline is valid? [False, False] Translation: X:-13.74, Y:0.02, Z:0.78 [[ 9.96690595e-01 3.08705968e-03 -8.12300892e-02 -1.37435430e+01] [-3.73923517e-03 9.99961978e-01 -7.87784705e-03 1.85985261e-02] [ 8.12026813e-02 8.15551447e-03 9.96664242e-01 7.79264973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.142557844 meters Centerline goodness : 0.192610 with order 3 Centerline is valid? [False, False] Translation: X:-13.74, Y:0.01, Z:0.78 [[ 9.96614198e-01 1.65871511e-03 -8.22033340e-02 -1.37396617e+01] [-2.37430205e-03 9.99960131e-01 -8.60809562e-03 1.10897975e-02] [ 8.21857782e-02 8.77412586e-03 9.96578403e-01 7.77963768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.202557844 meters Centerline goodness : 0.137134 with order 1 Centerline is valid? [False, False] Translation: X:-13.74, Y:0.01, Z:0.78 [[ 9.96577959e-01 1.92661562e-03 -8.26357081e-02 -1.37376256e+01] [-2.58898574e-03 9.99965371e-01 -7.90913802e-03 7.03326053e-03] [ 8.26176086e-02 8.09601529e-03 9.96548436e-01 7.76755630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.262557844 meters Centerline goodness : 0.131907 with order 1 Centerline is valid? [False, False] Translation: X:-13.74, Y:0.00, Z:0.78 [[ 9.96548507e-01 2.37964578e-03 -8.29783749e-02 -1.37365549e+01] [-2.99027500e-03 9.99969353e-01 -7.23539396e-03 4.10458108e-03] [ 8.29586142e-02 7.45854921e-03 9.96525082e-01 7.76458198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.322557844 meters Centerline goodness : 0.119072 with order 3 Centerline is valid? [False, False] Translation: X:-13.74, Y:0.00, Z:0.78 [[ 9.96521929e-01 2.51717337e-03 -8.32929067e-02 -1.37355762e+01] [-3.10239096e-03 9.99971401e-01 -6.89733703e-03 2.00694018e-03] [ 8.32731628e-02 7.13175477e-03 9.96501239e-01 7.76214839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.382557844 meters Centerline goodness : 0.140003 with order 1 Centerline is valid? [False, False] Translation: X:-13.74, Y:-0.00, Z:0.78 [[ 9.96533724e-01 2.75492636e-03 -8.31441327e-02 -1.37354007e+01] [-3.29983495e-03 9.99973966e-01 -6.41707544e-03 -1.67956810e-04] [ 8.31242895e-02 6.66919400e-03 9.96516871e-01 7.75407204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.442557844 meters Centerline goodness : 0.131609 with order 3 Centerline is valid? [False, False] Translation: X:-13.74, Y:-0.01, Z:0.78 [[ 9.96571854e-01 -9.73646503e-04 -8.27260021e-02 -1.37371469e+01] [ 2.18602579e-04 9.99958246e-01 -9.13561216e-03 -6.17892428e-03] [ 8.27314428e-02 9.08620984e-03 9.96530456e-01 7.76289011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.502557844 meters Centerline goodness : 0.142087 with order 1 Centerline is valid? [False, False] Translation: X:-13.73, Y:-0.01, Z:0.78 [[ 9.96492669e-01 -1.61978458e-03 -8.36644302e-02 -1.37347654e+01] [ 8.68842355e-04 9.99959020e-01 -9.01127469e-03 -1.36739310e-02] [ 8.36755980e-02 8.90697797e-03 9.96453240e-01 7.76459441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.562557844 meters Centerline goodness : 0.138036 with order 1 Centerline is valid? [False, False] Translation: X:-13.74, Y:-0.02, Z:0.78 [[ 9.96594528e-01 -2.93090188e-03 -8.24060491e-02 -1.37383893e+01] [ 2.19087579e-03 9.99956474e-01 -9.06923089e-03 -2.35151969e-02] [ 8.24290433e-02 8.85780445e-03 9.96557571e-01 7.77110699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.622557844 meters Centerline goodness : 0.144031 with order 1 Centerline is valid? [False, False] Translation: X:-13.74, Y:-0.03, Z:0.78 [[ 9.96604536e-01 -2.74500346e-03 -8.22913291e-02 -1.37388735e+01] [ 2.04554311e-03 9.99961074e-01 -8.58290997e-03 -2.60978818e-02] [ 8.23116859e-02 8.38543655e-03 9.96571358e-01 7.77415049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68255784400003 meters Centerline goodness : 0.139292 with order 1 Centerline is valid? [False, False] Translation: X:-13.74, Y:-0.03, Z:0.78 [[ 9.96572938e-01 -2.53080109e-03 -8.26799506e-02 -1.37381005e+01] [ 1.88419444e-03 9.99967038e-01 -7.89768836e-03 -3.03974861e-02] [ 8.26972128e-02 7.71483739e-03 9.96544857e-01 7.77759400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74255784400003 meters Centerline goodness : 0.123845 with order 3 Centerline is valid? [False, False] Translation: X:-13.74, Y:-0.03, Z:0.78 [[ 9.96554486e-01 -2.26682175e-03 -8.29097002e-02 -1.37373398e+01] [ 1.65356007e-03 9.99970772e-01 -7.46466086e-03 -3.21972029e-02] [ 8.29241980e-02 7.30184510e-03 9.96529107e-01 7.77503277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80255784400003 meters Centerline goodness : 0.121640 with order 3 Centerline is valid? [False, False] Translation: X:-13.74, Y:-0.03, Z:0.78 [[ 9.96565747e-01 -2.27651162e-03 -8.27739689e-02 -1.37374551e+01] [ 1.64669355e-03 9.99969180e-01 -7.67636345e-03 -3.10143989e-02] [ 8.27888931e-02 7.51369751e-03 9.96538782e-01 7.77114492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86255784400004 meters Centerline goodness : 0.139769 with order 1 Centerline is valid? [False, False] Translation: X:-13.74, Y:-0.03, Z:0.78 [[ 9.96673491e-01 -8.07887544e-04 -8.14941655e-02 -1.37434818e+01] [ 2.63715492e-04 9.99977600e-01 -6.68797827e-03 -2.74643846e-02] [ 8.14977432e-02 6.64423937e-03 9.96651379e-01 7.79727236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.922557844 meters Centerline goodness : 0.136402 with order 1 Centerline is valid? [False, False] Translation: X:-13.75, Y:-0.02, Z:0.78 [[ 9.96743301e-01 -7.28472175e-04 -8.06365942e-02 -1.37463490e+01] [ 1.51646829e-04 9.99974360e-01 -7.15928720e-03 -2.34968410e-02] [ 8.06397420e-02 7.12374327e-03 9.96717856e-01 7.80461978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.982557844 meters Centerline goodness : 0.137257 with order 1 Centerline is valid? [False, False] Translation: X:-13.75, Y:-0.02, Z:0.78 [[ 9.96780480e-01 -1.02048305e-03 -8.01725269e-02 -1.37477300e+01] [ 3.75650552e-04 9.99967465e-01 -8.05773176e-03 -1.84311184e-02] [ 8.01781413e-02 8.00167287e-03 9.96748433e-01 7.80557048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.042557844 meters Centerline goodness : 0.137210 with order 1 Centerline is valid? [False, False] Translation: X:-13.79, Y:-0.01, Z:0.78 [[ 9.96533887e-01 -2.04212828e-04 -8.31875625e-02 -1.37917147e+01] [-3.93009572e-04 9.99974270e-01 -7.16278867e-03 -1.13378234e-02] [ 8.31868848e-02 7.17065514e-03 9.96508165e-01 7.77379730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.102557844 meters Centerline goodness : 0.136808 with order 1 Centerline is valid? [False, False] Translation: X:-13.79, Y:-0.01, Z:0.78 [[ 9.96507555e-01 3.67888669e-03 -8.34215719e-02 -1.37914482e+01] [-4.03667686e-03 9.99983362e-01 -4.12067873e-03 -6.75110955e-03] [ 8.34050244e-02 4.44303342e-03 9.96505826e-01 7.77754256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.162557844 meters Centerline goodness : 0.135972 with order 1 Centerline is valid? [False, False] Translation: X:-13.79, Y:-0.00, Z:0.78 [[ 9.96540852e-01 3.27118565e-03 -8.30399322e-02 -1.37927092e+01] [-3.71648026e-03 9.99979530e-01 -5.20840632e-03 -1.09914125e-03] [ 8.30211947e-02 5.49900594e-03 9.96532610e-01 7.78003727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.222557844 meters Centerline goodness : 0.135310 with order 1 Centerline is valid? [False, False] Translation: X:-13.79, Y:0.01, Z:0.78 [[ 9.96518534e-01 2.66263008e-03 -8.33289984e-02 -1.37914189e+01] [-3.22956264e-03 9.99972544e-01 -6.66949167e-03 7.63849906e-03] [ 8.33089521e-02 6.91538828e-03 9.96499772e-01 7.77115222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.282557844 meters Centerline goodness : 0.140324 with order 1 Centerline is valid? [False, False] Translation: X:-13.79, Y:0.01, Z:0.78 [[ 9.96484481e-01 2.26489546e-03 -8.37469385e-02 -1.37900741e+01] [-2.90754210e-03 9.99967252e-01 -7.55250648e-03 1.18103648e-02] [ 8.37270904e-02 7.76945325e-03 9.96458434e-01 7.76630652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.342557844 meters Centerline goodness : 0.122003 with order 3 Centerline is valid? [False, False] Translation: X:-13.79, Y:0.02, Z:0.78 [[ 9.96422747e-01 2.45954326e-03 -8.44728364e-02 -1.37880508e+01] [-3.16567929e-03 9.99961152e-01 -8.22639763e-03 2.15225497e-02] [ 8.44493215e-02 8.46438363e-03 9.96391824e-01 7.76256617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.402557844 meters Centerline goodness : 0.137783 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:0.03, Z:0.78 [[ 9.96238360e-01 3.01666687e-03 -8.66027173e-02 -1.38362879e+01] [-3.69528198e-03 9.99963706e-01 -7.67671375e-03 2.76548639e-02] [ 8.65764160e-02 7.96785818e-03 9.96213349e-01 7.75224991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.462557844 meters Centerline goodness : 0.242252 with order 3 Centerline is valid? [False, False] Translation: X:-13.84, Y:0.03, Z:0.78 [[ 9.96225248e-01 2.68452692e-03 -8.67643293e-02 -1.38359130e+01] [-3.41973219e-03 9.99959490e-01 -8.32606427e-03 3.06431746e-02] [ 8.67384630e-02 8.59134621e-03 9.96194071e-01 7.75212442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.522557844 meters Centerline goodness : 0.136719 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:0.03, Z:0.78 [[ 9.96236396e-01 2.38538718e-03 -8.66449851e-02 -1.38364893e+01] [-3.14351795e-03 9.99957954e-01 -8.61446405e-03 3.12694225e-02] [ 8.66207932e-02 8.85441268e-03 9.96202006e-01 7.75639695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.582557844 meters Centerline goodness : 0.140395 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:0.03, Z:0.78 [[ 9.96205455e-01 2.01286520e-03 -8.70094183e-02 -1.38352835e+01] [-2.79583408e-03 9.99956684e-01 -8.87774183e-03 3.22380730e-02] [ 8.69877797e-02 9.08731874e-03 9.96167931e-01 7.75292411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.642557844 meters Centerline goodness : 0.138267 with order 1 Centerline is valid? [False, False] Translation: X:-13.83, Y:0.03, Z:0.78 [[ 9.96195337e-01 1.63698219e-03 -8.71330635e-02 -1.38348616e+01] [-2.43602274e-03 9.99955947e-01 -9.06480718e-03 3.21490726e-02] [ 8.71143861e-02 9.24257677e-03 9.96155439e-01 7.75263039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.702557844 meters Centerline goodness : 0.143060 with order 1 Centerline is valid? [False, False] Translation: X:-13.84, Y:0.03, Z:0.78 [[ 9.96209059e-01 1.60092356e-03 -8.69767076e-02 -1.38356528e+01] [-2.40453545e-03 9.99955380e-01 -9.13540986e-03 3.25228131e-02] [ 8.69582017e-02 9.30991664e-03 9.96168458e-01 7.75809905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.762557844 meters Centerline goodness : 0.142795 with order 2 Centerline is valid? [False, False] Translation: X:-13.83, Y:0.04, Z:0.78 [[ 9.96173375e-01 1.41235821e-03 -8.73877167e-02 -1.38343583e+01] [-2.27605966e-03 9.99949538e-01 -9.78470578e-03 3.56535760e-02] [ 8.73694874e-02 9.94616303e-03 9.96126321e-01 7.75415872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.822557844 meters Centerline goodness : 0.119416 with order 3 Centerline is valid? [False, False] Translation: X:-13.84, Y:0.04, Z:0.78 [[ 9.96197435e-01 1.55427637e-03 -8.71105849e-02 -1.38353960e+01] [-2.44448586e-03 9.99945869e-01 -1.01135621e-02 3.85812219e-02] [ 8.70901502e-02 1.02880452e-02 9.96147309e-01 7.75727523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.882557844 meters Centerline goodness : 0.122614 with order 3 Centerline is valid? [False, False] Translation: X:-13.84, Y:0.04, Z:0.78 [[ 9.96313383e-01 3.50687672e-03 -8.57166486e-02 -1.38419502e+01] [-4.26379542e-03 9.99953506e-01 -8.64899381e-03 4.20817999e-02] [ 8.56823324e-02 8.98258653e-03 9.96282014e-01 7.78601867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.942557844 meters Centerline goodness : 0.224147 with order 3 Centerline is valid? [False, False] Translation: X:-13.84, Y:0.05, Z:0.78 [[ 9.96314624e-01 3.68676533e-03 -8.56946794e-02 -1.38417664e+01] [-4.50966710e-03 9.99945545e-01 -9.41111769e-03 4.89789273e-02] [ 8.56553164e-02 9.76288866e-03 9.96276996e-01 7.78047212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.002557844 meters Centerline goodness : 0.410909 with order 1 Centerline is valid? [False, False] Translation: X:-13.87, Y:0.06, Z:0.78 [[ 9.96349290e-01 -3.14263382e-03 -8.53124568e-02 -1.38651822e+01] [ 2.52038655e-03 9.99969440e-01 -7.40047179e-03 5.54238739e-02] [ 8.53331066e-02 7.15843445e-03 9.96326763e-01 7.76741275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.062557844 meters Centerline goodness : 0.214532 with order 3 Centerline is valid? [False, False] Translation: X:-13.85, Y:0.06, Z:0.78 [[ 9.96475284e-01 -1.10523246e-02 -8.31556025e-02 -1.38464499e+01] [ 1.05627963e-02 9.99924211e-01 -6.32454770e-03 6.00907986e-02] [ 8.32192012e-02 5.42389978e-03 9.96516506e-01 7.79674310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.122557844 meters Centerline goodness : 0.134938 with order 1 Centerline is valid? [False, False] Translation: X:-13.89, Y:0.05, Z:0.78 [[ 9.96217839e-01 -1.30243094e-02 -8.59091645e-02 -1.38908475e+01] [ 1.24689811e-02 9.99897774e-01 -6.99758328e-03 5.39631180e-02] [ 8.59915210e-02 5.89991754e-03 9.96278399e-01 7.77108480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18255784400003 meters Centerline goodness : 0.117198 with order 3 Centerline is valid? [False, False] Translation: X:-13.87, Y:0.05, Z:0.78 [[ 9.96377651e-01 -6.40428214e-03 -8.47971856e-02 -1.38727993e+01] [ 5.66659935e-03 9.99944006e-01 -8.93721407e-03 4.82103609e-02] [ 8.48496739e-02 8.42432868e-03 9.96358150e-01 7.80511842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24255784400003 meters Centerline goodness : 0.119746 with order 3 Centerline is valid? [False, False] Translation: X:-13.87, Y:0.05, Z:0.78 [[ 9.96413262e-01 -6.34950053e-03 -8.43818357e-02 -1.38743444e+01] [ 5.64719214e-03 9.99947424e-01 -8.55906423e-03 4.60055593e-02] [ 8.44317451e-02 8.05184467e-03 9.96396732e-01 7.81241991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30255784400003 meters Centerline goodness : 0.125433 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:0.04, Z:0.78 [[ 9.96124943e-01 1.21503540e-03 -8.79410177e-02 -1.38926625e+01] [-2.07742203e-03 9.99950645e-01 -9.71556267e-03 4.14189294e-02] [ 8.79248726e-02 9.86060491e-03 9.96078303e-01 7.78526696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36255784400004 meters Centerline goodness : 0.126051 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:0.04, Z:0.78 [[ 9.96078363e-01 1.46087535e-03 -8.84633343e-02 -1.38907361e+01] [-2.34539634e-03 9.99948287e-01 -9.89561088e-03 4.36824966e-02] [ 8.84443034e-02 1.00642855e-02 9.96030278e-01 7.77662655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.422557844 meters Centerline goodness : 0.126975 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:0.05, Z:0.78 [[ 9.96145158e-01 1.51157563e-03 -8.77071204e-02 -1.38934514e+01] [-2.42737761e-03 9.99943637e-01 -1.03358772e-02 4.62729898e-02] [ 8.76865535e-02 1.05089323e-02 9.96092682e-01 7.78545324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.482557844 meters Centerline goodness : 0.130542 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:0.05, Z:0.78 [[ 9.96154977e-01 1.54627049e-03 -8.75949257e-02 -1.38938092e+01] [-2.46136318e-03 9.99943513e-01 -1.03398231e-02 4.66014226e-02] [ 8.75739896e-02 1.05156692e-02 9.96102513e-01 7.78576290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.542557844 meters Centerline goodness : 0.239861 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:0.05, Z:0.78 [[ 9.96152703e-01 1.55602364e-03 -8.76206145e-02 -1.38935325e+01] [-2.46051030e-03 9.99944791e-01 -1.02157039e-02 4.55014764e-02] [ 8.75998812e-02 1.03919925e-02 9.96101535e-01 7.78347176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.602557844 meters Centerline goodness : 0.125929 with order 3 Centerline is valid? [False, False] Translation: X:-13.89, Y:0.05, Z:0.78 [[ 9.96167546e-01 1.49624492e-03 -8.74527344e-02 -1.38941571e+01] [-2.41312344e-03 9.99943220e-01 -1.03794959e-02 4.62187290e-02] [ 8.74322385e-02 1.05507512e-02 9.96114594e-01 7.78557294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.662557844 meters Centerline goodness : 0.119106 with order 3 Centerline is valid? [False, False] Translation: X:-13.90, Y:0.05, Z:0.78 [[ 9.96235557e-01 1.98778708e-03 -8.66646617e-02 -1.38965792e+01] [-2.88989974e-03 9.99942932e-01 -1.02850137e-02 4.82282703e-02] [ 8.66392715e-02 1.04967486e-02 9.96184448e-01 7.78965626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.722557844 meters Centerline goodness : 0.227175 with order 1 Centerline is valid? [False, False] Translation: X:-13.89, Y:0.05, Z:0.78 [[ 9.96165541e-01 2.28556356e-03 -8.74585120e-02 -1.38934700e+01] [-3.25561358e-03 9.99934741e-01 -1.09505139e-02 5.41914475e-02] [ 8.74277765e-02 1.11932558e-02 9.96107974e-01 7.77333289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.782557844 meters Centerline goodness : 0.144542 with order 1 Centerline is valid? [False, False] Translation: X:-13.91, Y:0.06, Z:0.77 [[ 9.96151791e-01 -2.84604815e-03 -8.75985658e-02 -1.39145627e+01] [ 2.18005442e-03 9.99967997e-01 -7.69752272e-03 6.21957409e-02] [ 8.76176699e-02 7.47693141e-03 9.96126116e-01 7.74596618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.842557844 meters Centerline goodness : 0.407643 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.78 [[ 9.96156732e-01 -3.12178598e-03 -8.75329652e-02 -1.39151831e+01] [ 2.42503543e-03 9.99964536e-01 -8.06507469e-03 6.36419286e-02] [ 8.75550384e-02 7.82180790e-03 9.96128975e-01 7.75173970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.902557844 meters Centerline goodness : 0.244115 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.78 [[ 9.96194180e-01 -3.40689160e-03 -8.70950619e-02 -1.39164158e+01] [ 2.71119569e-03 9.99963480e-01 -8.10482007e-03 6.32248436e-02] [ 8.71194935e-02 7.83784283e-03 9.96167035e-01 7.75401973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.962557844 meters Centerline goodness : 0.399987 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.78 [[ 9.96220138e-01 -3.95607764e-03 -8.67743433e-02 -1.39171652e+01] [ 3.27915167e-03 9.99963084e-01 -7.94214787e-03 6.08306641e-02] [ 8.68025597e-02 7.62758141e-03 9.96196334e-01 7.75524085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.022557844 meters Centerline goodness : 0.131465 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.78 [[ 9.96232578e-01 -3.91324707e-03 -8.66333480e-02 -1.39175754e+01] [ 3.27783963e-03 9.99966686e-01 -7.47548251e-03 5.81025545e-02] [ 8.66597153e-02 7.16334899e-03 9.96212216e-01 7.75748294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.082557844 meters Centerline goodness : 0.408713 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.78 [[ 9.96215923e-01 -3.87338458e-03 -8.68264412e-02 -1.39165286e+01] [ 3.24782700e-03 9.99967752e-01 -7.34479827e-03 5.69589182e-02] [ 8.68520905e-02 7.03500773e-03 9.96196378e-01 7.75018806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.142557844 meters Centerline goodness : 0.131658 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.77 [[ 9.96214783e-01 -3.60165483e-03 -8.68512151e-02 -1.39162690e+01] [ 2.97416121e-03 9.99968542e-01 -7.35324379e-03 5.79505278e-02] [ 8.68749668e-02 7.06710066e-03 9.96194156e-01 7.74641927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.202557844 meters Centerline goodness : 0.117848 with order 3 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.77 [[ 9.96231295e-01 -3.20088524e-03 -8.66773338e-02 -1.39167911e+01] [ 2.56743285e-03 9.99969185e-01 -7.41865985e-03 5.94956439e-02] [ 8.66984092e-02 7.16816288e-03 9.96208815e-01 7.74494274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.262557844 meters Centerline goodness : 0.116987 with order 3 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.77 [[ 9.96245487e-01 -3.15273915e-03 -8.65158359e-02 -1.39169700e+01] [ 2.52274251e-03 9.99969510e-01 -7.39023304e-03 5.95320028e-02] [ 8.65364975e-02 7.14422913e-03 9.96223065e-01 7.74094960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.322557844 meters Centerline goodness : 0.131307 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.77 [[ 9.96242530e-01 -3.14572095e-03 -8.65501330e-02 -1.39168568e+01] [ 2.52798955e-03 9.99970552e-01 -7.24594620e-03 5.82000833e-02] [ 8.65703781e-02 6.99992195e-03 9.96221145e-01 7.74065795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.382557844 meters Centerline goodness : 0.133817 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.06, Z:0.77 [[ 9.96258493e-01 -2.98297525e-03 -8.63719676e-02 -1.39173597e+01] [ 2.41017977e-03 9.99974413e-01 -6.73525072e-03 5.55498878e-02] [ 8.63898487e-02 6.50187876e-03 9.96240192e-01 7.74207006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.442557844 meters Centerline goodness : 0.137497 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.05, Z:0.77 [[ 9.96258450e-01 -2.89762663e-03 -8.63753649e-02 -1.39174101e+01] [ 2.36873130e-03 9.99977818e-01 -6.22508253e-03 5.25006093e-02] [ 8.63914870e-02 5.99719104e-03 9.96243216e-01 7.74374117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.502557844 meters Centerline goodness : 0.134927 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.05, Z:0.78 [[ 9.96223506e-01 -6.45666908e-03 -8.65854366e-02 -1.39174114e+01] [ 5.71900889e-03 9.99945234e-01 -8.76480408e-03 4.70626122e-02] [ 8.66372861e-02 8.23652096e-03 9.96205872e-01 7.75020554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.562557844 meters Centerline goodness : 0.133200 with order 1 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.04, Z:0.78 [[ 9.96240642e-01 -1.02427102e-02 -8.60213408e-02 -1.39190290e+01] [ 9.27337497e-03 9.99889011e-01 -1.16605994e-02 4.27348948e-02] [ 8.61312295e-02 1.08190549e-02 9.96225055e-01 7.75411007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.622557844 meters Centerline goodness : 0.141197 with order 1 Centerline is valid? [False, False] Translation: X:-13.93, Y:0.03, Z:0.78 [[ 9.96338479e-01 -1.32541169e-02 -8.44627974e-02 -1.39252224e+01] [ 1.21731425e-02 9.99837443e-01 -1.33004362e-02 3.47795502e-02] [ 8.46253529e-02 1.22235587e-02 9.96337861e-01 7.78062272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68255784400003 meters Centerline goodness : 0.123361 with order 3 Centerline is valid? [False, False] Translation: X:-13.92, Y:0.03, Z:0.78 [[ 9.96302757e-01 -1.33172398e-02 -8.48732430e-02 -1.39240829e+01] [ 1.22717120e-02 9.99842404e-01 -1.28285486e-02 3.14989169e-02] [ 8.50307082e-02 1.17395783e-02 9.96309169e-01 7.78010596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74255784400003 meters Centerline goodness : 0.135312 with order 1 Centerline is valid? [False, False] Translation: X:-13.93, Y:0.03, Z:0.78 [[ 9.96376546e-01 -1.36033152e-02 -8.39567027e-02 -1.39267413e+01] [ 1.26148059e-02 9.99844858e-01 -1.22933361e-02 2.68961281e-02] [ 8.41109076e-02 1.11896943e-02 9.96393570e-01 7.78610896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80255784400003 meters Centerline goodness : 0.134846 with order 1 Centerline is valid? [False, False] Translation: X:-13.93, Y:0.02, Z:0.78 [[ 9.96390314e-01 -1.35223500e-02 -8.38062540e-02 -1.39273480e+01] [ 1.25706071e-02 9.99850485e-01 -1.18737805e-02 2.43085390e-02] [ 8.39542851e-02 1.07774244e-02 9.96411323e-01 7.78945296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86255784400004 meters Centerline goodness : 0.136269 with order 1 Centerline is valid? [False, False] Translation: X:-13.95, Y:0.02, Z:0.78 [[ 9.96366548e-01 -5.69173884e-03 -8.49782649e-02 -1.39456385e+01] [ 4.63203995e-03 9.99909102e-01 -1.26622003e-02 1.64964718e-02] [ 8.50426105e-02 1.22225701e-02 9.96302345e-01 7.75340298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.922557844 meters Centerline goodness : 0.136597 with order 1 Centerline is valid? [False, False] Translation: X:-13.96, Y:0.01, Z:0.77 [[ 9.96400927e-01 1.85676295e-03 -8.47451817e-02 -1.39644456e+01] [-3.03253283e-03 9.99900899e-01 -1.37475612e-02 1.02441242e-02] [ 8.47112574e-02 1.39550753e-02 9.96307813e-01 7.71827639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.982557844 meters Centerline goodness : 0.138773 with order 1 Centerline is valid? [False, False] Translation: X:-13.97, Y:0.01, Z:0.77 [[ 9.96423680e-01 1.86485158e-03 -8.44770517e-02 -1.39650257e+01] [-3.02861925e-03 9.99902247e-01 -1.36500817e-02 9.54085350e-03] [ 8.44433384e-02 1.38571134e-02 9.96331924e-01 7.71613105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.042557844 meters Centerline goodness : 0.136945 with order 1 Centerline is valid? [False, False] Translation: X:-13.96, Y:0.01, Z:0.77 [[ 9.96415071e-01 1.75675526e-03 -8.45808474e-02 -1.39646610e+01] [-2.91915401e-03 9.99902964e-01 -1.36213374e-02 8.78557270e-03] [ 8.45487107e-02 1.38194104e-02 9.96323511e-01 7.71437042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.102557844 meters Centerline goodness : 0.138442 with order 1 Centerline is valid? [False, False] Translation: X:-13.96, Y:0.01, Z:0.77 [[ 9.96339006e-01 1.57029337e-03 -8.54758378e-02 -1.39616700e+01] [-2.75208951e-03 9.99902226e-01 -1.37100065e-02 8.80220790e-03] [ 8.54459518e-02 1.38950515e-02 9.96245912e-01 7.70409869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.162557844 meters Centerline goodness : 0.239787 with order 3 Centerline is valid? [False, False] Translation: X:-13.96, Y:0.01, Z:0.77 [[ 9.96272591e-01 1.20341175e-03 -8.62524035e-02 -1.39588518e+01] [-2.44367520e-03 9.99895116e-01 -1.42753249e-02 1.16234915e-02] [ 8.62261779e-02 1.44328878e-02 9.96171039e-01 7.69270141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.222557844 meters Centerline goodness : 0.135085 with order 3 Centerline is valid? [False, False] Translation: X:-14.00, Y:0.01, Z:0.77 [[ 9.96611660e-01 -2.49147954e-03 -8.22130893e-02 -1.40005097e+01] [ 1.25934985e-03 9.99886168e-01 -1.50354790e-02 1.34996658e-02] [ 8.22411914e-02 1.48809986e-02 9.96501351e-01 7.65332249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.282557844 meters Centerline goodness : 0.139271 with order 1 Centerline is valid? [False, False] Translation: X:-14.00, Y:0.01, Z:0.77 [[ 9.96666351e-01 -6.78400277e-03 -8.13028993e-02 -1.40034543e+01] [ 5.32300153e-03 9.99820685e-01 -1.81731500e-02 1.15547418e-02] [ 8.14116071e-02 1.76797917e-02 9.96523745e-01 7.65149030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.342557844 meters Centerline goodness : 0.235414 with order 3 Centerline is valid? [False, False] Translation: X:-14.01, Y:0.01, Z:0.76 [[ 9.96717702e-01 -7.80302884e-03 -8.05787502e-02 -1.40053559e+01] [ 6.32728301e-03 9.99807849e-01 -1.85534584e-02 1.11800231e-02] [ 8.07080400e-02 1.79827159e-02 9.96575554e-01 7.64671655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.402557844 meters Centerline goodness : 0.118188 with order 3 Centerline is valid? [False, False] Translation: X:-14.01, Y:0.01, Z:0.76 [[ 9.96809605e-01 -8.42549751e-03 -7.93701571e-02 -1.40089024e+01] [ 6.96033814e-03 9.99800567e-01 -1.87184368e-02 1.14275033e-02] [ 7.95120402e-02 1.81062745e-02 9.96669453e-01 7.64764270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.462557844 meters Centerline goodness : 0.237088 with order 3 Centerline is valid? [False, False] Translation: X:-14.01, Y:0.01, Z:0.76 [[ 9.96829227e-01 -8.77074240e-03 -7.90858121e-02 -1.40096154e+01] [ 7.26239017e-03 9.99786591e-01 -1.93398515e-02 1.44748334e-02] [ 7.92385593e-02 1.87041772e-02 9.96680192e-01 7.64665654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.522557844 meters Centerline goodness : 0.229214 with order 3 Centerline is valid? [False, False] Translation: X:-14.01, Y:0.02, Z:0.77 [[ 9.96944176e-01 -6.16257209e-03 -7.78738195e-02 -1.40133283e+01] [ 4.82517887e-03 9.99837828e-01 -1.73503589e-02 2.01399371e-02] [ 7.79681134e-02 1.69215842e-02 9.96812236e-01 7.65211355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.582557844 meters Centerline goodness : 0.235205 with order 3 Centerline is valid? [False, False] Translation: X:-14.01, Y:0.02, Z:0.77 [[ 9.96966823e-01 -6.68391324e-03 -7.75401783e-02 -1.40142615e+01] [ 5.27717879e-03 9.99818014e-01 -1.83327498e-02 2.47697151e-02] [ 7.76486016e-02 1.78679499e-02 9.96820661e-01 7.65229557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.642557844 meters Centerline goodness : 0.131516 with order 1 Centerline is valid? [False, False] Translation: X:-14.01, Y:0.02, Z:0.76 [[ 9.96899064e-01 -7.05672830e-03 -7.83738459e-02 -1.40115671e+01] [ 5.63892179e-03 9.99816696e-01 -1.82969063e-02 2.40787171e-02] [ 7.84885960e-02 1.77982248e-02 9.96756120e-01 7.63974392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.702557844 meters Centerline goodness : 0.249745 with order 3 Centerline is valid? [False, False] Translation: X:-14.01, Y:0.02, Z:0.76 [[ 9.96860083e-01 -7.47542901e-03 -7.88295125e-02 -1.40103874e+01] [ 6.05036223e-03 9.99814212e-01 -1.83012114e-02 2.26572061e-02] [ 7.89516763e-02 1.77668000e-02 9.96720108e-01 7.63689721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.762557844 meters Centerline goodness : 0.237099 with order 3 Centerline is valid? [False, False] Translation: X:-14.05, Y:0.02, Z:0.76 [[ 9.96643383e-01 -8.65321464e-03 -8.14069300e-02 -1.40544362e+01] [ 7.16022460e-03 9.99801107e-01 -1.86139325e-02 2.21165754e-02] [ 8.15518090e-02 1.79685608e-02 9.96507117e-01 7.60689537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.822557844 meters Centerline goodness : 0.275275 with order 3 Centerline is valid? [False, False] Translation: X:-14.03, Y:0.02, Z:0.76 [[ 9.96776369e-01 1.66682867e-03 -8.02127882e-02 -1.40344846e+01] [-3.11069955e-03 9.99835320e-01 -1.78789150e-02 1.92163563e-02] [ 8.01697777e-02 1.80707979e-02 9.96617406e-01 7.62134021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.882557844 meters Centerline goodness : 0.235881 with order 3 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.02, Z:0.76 [[ 9.96799773e-01 1.80612754e-03 -7.99183947e-02 -1.40353413e+01] [-3.26295896e-03 9.99830818e-01 -1.81021500e-02 2.14597283e-02] [ 7.98721792e-02 1.83049895e-02 9.96637026e-01 7.62221433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.942557844 meters Centerline goodness : 0.128435 with order 3 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.02, Z:0.76 [[ 9.96804693e-01 1.95452359e-03 -7.98535122e-02 -1.40350374e+01] [-3.38703346e-03 9.99835693e-01 -1.78077127e-02 2.11651997e-02] [ 7.98055861e-02 1.80212781e-02 9.96647531e-01 7.61414020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.002557844 meters Centerline goodness : 0.199323 with order 2 Centerline is valid? [False, False] Translation: X:-14.03, Y:0.02, Z:0.76 [[ 9.96797711e-01 1.84497389e-03 -7.99432283e-02 -1.40348650e+01] [-3.25005107e-03 9.99842466e-01 -1.74493856e-02 1.98798011e-02] [ 7.98984409e-02 1.76533272e-02 9.96646677e-01 7.61544766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.062557844 meters Centerline goodness : 0.097961 with order 1 Centerline is valid? [False, False] Translation: X:-14.03, Y:0.02, Z:0.76 [[ 9.96780236e-01 1.68075114e-03 -8.01644353e-02 -1.40342075e+01] [-3.07348183e-03 9.99846429e-01 -1.72531986e-02 1.90404851e-02] [ 8.01231260e-02 1.74440313e-02 9.96632325e-01 7.61334179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.122557844 meters Centerline goodness : 0.245869 with order 3 Centerline is valid? [False, False] Translation: X:-14.03, Y:0.02, Z:0.76 [[ 9.96778723e-01 1.59728325e-03 -8.01849507e-02 -1.40339143e+01] [-3.00906744e-03 9.99842530e-01 -1.74888513e-02 2.10648757e-02] [ 8.01443894e-02 1.76737968e-02 9.96626567e-01 7.61051144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18255784400003 meters Centerline goodness : 0.244331 with order 3 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.02, Z:0.76 [[ 9.96857578e-01 4.23569704e-03 -7.91013734e-02 -1.40375445e+01] [-5.45734379e-03 9.99869059e-01 -1.52342753e-02 2.49963216e-02] [ 7.90264880e-02 1.56180862e-02 9.96750164e-01 7.61964352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24255784400003 meters Centerline goodness : 0.100727 with order 1 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.03, Z:0.76 [[ 9.96838893e-01 8.10230939e-03 -7.90352658e-02 -1.40372083e+01] [-9.06970235e-03 9.99888193e-01 -1.18887253e-02 2.77211621e-02] [ 7.89301030e-02 1.25679701e-02 9.96800925e-01 7.61493809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30255784400003 meters Centerline goodness : 0.098960 with order 1 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.03, Z:0.76 [[ 9.96811554e-01 7.90909340e-03 -7.93988175e-02 -1.40364843e+01] [-8.91745084e-03 9.99883930e-01 -1.23533658e-02 3.08263656e-02] [ 7.92918978e-02 1.30220128e-02 9.96766383e-01 7.61816757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36255784400004 meters Centerline goodness : 0.113340 with order 3 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.04, Z:0.76 [[ 9.96861851e-01 9.41538624e-03 -7.85989902e-02 -1.40396459e+01] [-1.03653262e-02 9.99877983e-01 -1.16866750e-02 3.84403441e-02] [ 7.84793653e-02 1.24647047e-02 9.96837810e-01 7.63109191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.422557844 meters Centerline goodness : 0.183823 with order 1 Centerline is valid? [False, False] Translation: X:-14.02, Y:0.05, Z:0.76 [[ 9.96854505e-01 5.18566525e-03 -7.90835339e-02 -1.40187001e+01] [-5.85893616e-03 9.99948525e-01 -8.28375454e-03 4.67502948e-02] [ 7.90365063e-02 8.72104340e-03 9.96833574e-01 7.64935305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.482557844 meters Centerline goodness : 0.209730 with order 1 Centerline is valid? [False, False] Translation: X:-14.02, Y:0.05, Z:0.76 [[ 9.96834297e-01 5.16034600e-03 -7.93394950e-02 -1.40179851e+01] [-5.90995512e-03 9.99940065e-01 -9.21620744e-03 5.25493644e-02] [ 7.92871810e-02 9.65592452e-03 9.96805049e-01 7.64833342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.542557844 meters Centerline goodness : 0.418989 with order 2 Centerline is valid? [False, False] Translation: X:-14.02, Y:0.05, Z:0.76 [[ 9.96861405e-01 4.94305205e-03 -7.90120606e-02 -1.40187190e+01] [-5.72762263e-03 9.99936490e-01 -9.70621214e-03 5.49028001e-02] [ 7.89590642e-02 1.01282995e-02 9.96826406e-01 7.64668499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.602557844 meters Centerline goodness : 0.248234 with order 1 Centerline is valid? [False, False] Translation: X:-14.00, Y:0.06, Z:0.77 [[ 9.96935891e-01 -3.03334273e-03 -7.81641122e-02 -1.39998265e+01] [ 2.37902725e-03 9.99961360e-01 -8.46280793e-03 5.81580284e-02] [ 7.81867625e-02 8.25092241e-03 9.96904585e-01 7.67536172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.662557844 meters Centerline goodness : 0.127853 with order 3 Centerline is valid? [False, False] Translation: X:-14.02, Y:0.05, Z:0.76 [[ 9.96777973e-01 5.20316472e-03 -8.00412345e-02 -1.40187092e+01] [-5.98887434e-03 9.99936182e-01 -9.57937953e-03 5.37620186e-02] [ 7.99862834e-02 1.00278714e-02 9.96745522e-01 7.64644796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.722557844 meters Centerline goodness : 0.406283 with order 1 Centerline is valid? [False, False] Translation: X:-14.01, Y:0.05, Z:0.76 [[ 9.96630091e-01 6.04202961e-03 -8.18043788e-02 -1.40130225e+01] [-6.82648151e-03 9.99933331e-01 -9.31307229e-03 5.48733585e-02] [ 8.17426551e-02 9.84012416e-03 9.96604892e-01 7.62888711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.782557844 meters Centerline goodness : 0.120330 with order 3 Centerline is valid? [False, False] Translation: X:-14.02, Y:0.06, Z:0.76 [[ 9.96706735e-01 6.53778677e-03 -8.08266196e-02 -1.40159806e+01] [-7.32020774e-03 9.99929140e-01 -9.38770983e-03 5.70069626e-02] [ 8.07595174e-02 9.94846126e-03 9.96683966e-01 7.63495746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.842557844 meters Centerline goodness : 0.120870 with order 3 Centerline is valid? [False, False] Translation: X:-14.02, Y:0.06, Z:0.77 [[ 9.96759300e-01 9.23064171e-03 -7.99105278e-02 -1.40207614e+01] [-9.86836979e-03 9.99922506e-01 -7.58927502e-03 6.17992369e-02] [ 7.98342813e-02 8.35326710e-03 9.96773149e-01 7.66006660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.902557844 meters Centerline goodness : 0.120730 with order 3 Centerline is valid? [False, False] Translation: X:-14.02, Y:0.06, Z:0.77 [[ 9.96735658e-01 9.76416847e-03 -8.01416857e-02 -1.40199019e+01] [-1.04144031e-02 9.99916125e-01 -7.69958137e-03 6.46195912e-02] [ 8.00597838e-02 8.50907512e-03 9.96753744e-01 7.65533620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.962557844 meters Centerline goodness : 0.139331 with order 1 Centerline is valid? [False, False] Translation: X:-14.02, Y:0.07, Z:0.76 [[ 9.96701771e-01 1.00272216e-02 -8.05297134e-02 -1.40186311e+01] [-1.07129616e-02 9.99909906e-01 -8.08781760e-03 6.79436868e-02] [ 8.04413598e-02 8.92385385e-03 9.96719395e-01 7.64993959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.022557844 meters Centerline goodness : 0.147473 with order 1 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.07, Z:0.76 [[ 9.96751087e-01 1.66886630e-03 -8.05263004e-02 -1.40396599e+01] [-2.26253711e-03 9.99970928e-01 -7.28170231e-03 7.28948749e-02] [ 8.05118072e-02 7.44023844e-03 9.96725886e-01 7.62669433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.082557844 meters Centerline goodness : 0.142742 with order 1 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.07, Z:0.76 [[ 9.96764289e-01 1.73580317e-03 -8.03612979e-02 -1.40397420e+01] [-2.31793603e-03 9.99971743e-01 -7.15122513e-03 7.26065041e-02] [ 8.03466140e-02 7.31435818e-03 9.96740148e-01 7.62220519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.142557844 meters Centerline goodness : 0.139009 with order 1 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.07, Z:0.76 [[ 9.96777548e-01 1.73569512e-03 -8.01966721e-02 -1.40397539e+01] [-2.31942679e-03 9.99971489e-01 -7.18616998e-03 7.28529458e-02] [ 8.01819127e-02 7.34902321e-03 9.96753155e-01 7.61618166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.202557844 meters Centerline goodness : 0.138101 with order 1 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.07, Z:0.76 [[ 9.96786526e-01 1.86736206e-03 -8.00820443e-02 -1.40398802e+01] [-2.44636856e-03 9.99971570e-01 -7.13266317e-03 7.31079181e-02] [ 8.00664483e-02 7.30565274e-03 9.96762756e-01 7.61332654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.262557844 meters Centerline goodness : 0.118894 with order 3 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.07, Z:0.76 [[ 9.96780922e-01 1.89166203e-03 -8.01511993e-02 -1.40396246e+01] [-2.46906974e-03 9.99971707e-01 -7.10548447e-03 7.26658076e-02] [ 8.01354905e-02 7.28051026e-03 9.96757391e-01 7.61205539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.322557844 meters Centerline goodness : 0.143206 with order 1 Centerline is valid? [False, False] Translation: X:-14.04, Y:0.07, Z:0.76 [[ 9.96777259e-01 1.86441758e-03 -8.01973824e-02 -1.40391716e+01] [-2.44542229e-03 9.99971469e-01 -7.14707802e-03 7.26266762e-02] [ 8.01817691e-02 7.32016130e-03 9.96753379e-01 7.60716987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.382557844 meters SLAMing on 391.442557844 meters Centerline goodness : 0.138338 with order 1 Centerline is valid? [False, False] Translation: X:-14.10, Y:0.07, Z:0.75 [[ 9.96664299e-01 7.06551068e-03 -8.13040858e-02 -1.40952019e+01] [-7.75843665e-03 9.99936200e-01 -8.20988174e-03 6.66988997e-02] [ 8.12408916e-02 8.81328863e-03 9.96655529e-01 7.53318201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.502557844 meters Centerline goodness : 0.141419 with order 1 Centerline is valid? [False, False] Translation: X:-14.09, Y:0.07, Z:0.75 [[ 9.96599598e-01 7.16562557e-03 -8.20846776e-02 -1.40924735e+01] [-7.87243152e-03 9.99934646e-01 -8.29027833e-03 6.70492628e-02] [ 8.20199080e-02 8.90829405e-03 9.96590877e-01 7.52179284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.562557844 meters Centerline goodness : 0.142591 with order 1 Centerline is valid? [False, False] Translation: X:-14.09, Y:0.07, Z:0.75 [[ 9.96622613e-01 7.20721058e-03 -8.18011162e-02 -1.40929969e+01] [-7.91149735e-03 9.99934349e-01 -8.28888126e-03 6.73019968e-02] [ 8.17360062e-02 8.90805581e-03 9.96614204e-01 7.51850670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.622557844 meters Centerline goodness : 0.145517 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.07, Z:0.75 [[ 9.96759249e-01 -1.18881795e-03 -8.04337337e-02 -1.41163922e+01] [ 5.78048187e-04 9.99970828e-01 -7.61631183e-03 7.13856520e-02] [ 8.04404417e-02 7.54513469e-03 9.96730859e-01 7.49645672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68255784400003 meters Centerline goodness : 0.140087 with order 1 Centerline is valid? [False, False] Translation: X:-14.10, Y:0.07, Z:0.75 [[ 9.96944577e-01 7.11606212e-03 -7.77873516e-02 -1.40962007e+01] [-7.81458682e-03 9.99931799e-01 -8.67921496e-03 7.24571701e-02] [ 7.77202847e-02 9.26057230e-03 9.96932194e-01 7.51001813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74255784400003 meters Centerline goodness : 0.130855 with order 2 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.97112392e-01 4.34245590e-04 -7.59387159e-02 -1.41217945e+01] [-9.50117205e-04 9.99976718e-01 -6.75726674e-03 7.69317249e-02] [ 7.59340136e-02 6.80990508e-03 9.97089590e-01 7.49712412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80255784400003 meters Centerline goodness : 0.145633 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.97108448e-01 2.30601231e-04 -7.59913774e-02 -1.41217525e+01] [-7.76092692e-04 9.99974145e-01 -7.14888095e-03 7.86323550e-02] [ 7.59877641e-02 7.18718594e-03 9.97082847e-01 7.49813045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86255784400004 meters Centerline goodness : 0.143476 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.97088368e-01 2.10322275e-04 -7.62544607e-02 -1.41203874e+01] [-7.67935205e-04 9.99973182e-01 -7.28328049e-03 7.95151210e-02] [ 7.62508838e-02 7.32063274e-03 9.97061789e-01 7.48757660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.922557844 meters Centerline goodness : 0.117583 with order 3 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.97108227e-01 2.76976933e-04 -7.59941192e-02 -1.41215736e+01] [-8.40649713e-04 9.99972374e-01 -7.38543284e-03 8.05289662e-02] [ 7.59899741e-02 7.42796028e-03 9.97080914e-01 7.49420382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.982557844 meters Centerline goodness : 0.143570 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.97042119e-01 5.17688134e-04 -7.68553464e-02 -1.41188503e+01] [-1.09515481e-03 9.99971487e-01 -7.47172614e-03 8.18276513e-02] [ 7.68492870e-02 7.53379417e-03 9.97014257e-01 7.48555743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.042557844 meters Centerline goodness : 0.149907 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.96991264e-01 6.02944585e-04 -7.75116518e-02 -1.41163907e+01] [-1.18891986e-03 9.99971063e-01 -7.51391005e-03 8.20062094e-02] [ 7.75048784e-02 7.58345782e-03 9.96963131e-01 7.47334464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.102557844 meters Centerline goodness : 0.150623 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.96998955e-01 9.25302770e-04 -7.74094812e-02 -1.41164370e+01] [-1.48861875e-03 9.99972830e-01 -7.21970618e-03 8.17584055e-02] [ 7.74006975e-02 7.31327272e-03 9.96973243e-01 7.46971813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.162557844 meters Centerline goodness : 0.144012 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.96977862e-01 9.11886993e-04 -7.76808279e-02 -1.41153566e+01] [-1.47163969e-03 9.99973364e-01 -7.14886158e-03 8.09742655e-02] [ 7.76722398e-02 7.24157492e-03 9.96952648e-01 7.46420458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.222557844 meters Centerline goodness : 0.116621 with order 3 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.96979803e-01 1.03421493e-03 -7.76543804e-02 -1.41152561e+01] [-1.57198408e-03 9.99975204e-01 -6.86435318e-03 7.96855833e-02] [ 7.76453557e-02 6.96569293e-03 9.96956708e-01 7.46179943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.282557844 meters Centerline goodness : 0.147654 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.07, Z:0.75 [[ 9.97122777e-01 -9.99532386e-04 -7.57968916e-02 -1.41240536e+01] [ 3.85316499e-04 9.99966977e-01 -8.11763527e-03 7.45735470e-02] [ 7.58025024e-02 8.06507323e-03 9.97090234e-01 7.50689098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.342557844 meters Centerline goodness : 0.152123 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.07, Z:0.75 [[ 9.97140142e-01 -8.16279222e-04 -7.55703079e-02 -1.41245623e+01] [ 2.48644205e-04 9.99971690e-01 -7.52045362e-03 7.13524728e-02] [ 7.55743073e-02 7.48015607e-03 9.97112116e-01 7.50616055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.402557844 meters Centerline goodness : 0.140141 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.07, Z:0.75 [[ 9.97148139e-01 -5.78668111e-04 -7.54669122e-02 -1.41245650e+01] [ 5.38663731e-05 9.99975806e-01 -6.95591407e-03 6.85392423e-02] [ 7.54691115e-02 6.93201164e-03 9.97124045e-01 7.50295938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.462557844 meters Centerline goodness : 0.148578 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.07, Z:0.75 [[ 9.97154651e-01 -5.55153992e-04 -7.53809849e-02 -1.41250207e+01] [ 3.30814772e-05 9.99976008e-01 -6.92685728e-03 6.84035451e-02] [ 7.53830218e-02 6.90465425e-03 9.97130747e-01 7.50611156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.522557844 meters Centerline goodness : 0.145799 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.07, Z:0.75 [[ 9.97190105e-01 -3.88448086e-04 -7.49115666e-02 -1.41267182e+01] [-1.20308993e-04 9.99976962e-01 -6.78680340e-03 6.82964832e-02] [ 7.49124771e-02 6.77674573e-03 9.97167086e-01 7.51264251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.582557844 meters Centerline goodness : 0.144548 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.07, Z:0.75 [[ 9.97124585e-01 -3.03710173e-04 -7.57790817e-02 -1.41234644e+01] [-1.77155997e-04 9.99979894e-01 -6.33882934e-03 6.53940581e-02] [ 7.57794832e-02 6.33402730e-03 9.97104483e-01 7.49867146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.642557844 meters Centerline goodness : 0.147539 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.06, Z:0.75 [[ 9.97142524e-01 -1.89925384e-04 -7.55430441e-02 -1.41242853e+01] [-2.62371823e-04 9.99982101e-01 -5.97730859e-03 6.31474187e-02] [ 7.55428272e-02 5.98004894e-03 9.97124626e-01 7.50238462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.702557844 meters Centerline goodness : 0.143861 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.06, Z:0.75 [[ 9.97132339e-01 -3.55846581e-07 -7.56775964e-02 -1.41238248e+01] [-4.34556803e-04 9.99983486e-01 -5.73044736e-03 6.18667901e-02] [ 7.56763487e-02 5.74690059e-03 9.97115873e-01 7.50040779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.762557844 meters Centerline goodness : 0.141111 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.06, Z:0.75 [[ 9.97016750e-01 1.65851059e-03 -7.71676781e-02 -1.41180510e+01] [-1.99675980e-03 9.99988734e-01 -4.30635041e-03 6.03422679e-02] [ 7.71596666e-02 4.44758880e-03 9.97008829e-01 7.47904456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.822557844 meters Centerline goodness : 0.145894 with order 1 Centerline is valid? [False, False] Translation: X:-14.14, Y:0.05, Z:0.74 [[ 9.96874816e-01 9.59733431e-03 -7.84123288e-02 -1.41367300e+01] [-1.00718452e-02 9.99933269e-01 -5.65822904e-03 5.48911859e-02] [ 7.83527923e-02 6.43030286e-03 9.96904956e-01 7.44324844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.882557844 meters Centerline goodness : 0.147591 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.06, Z:0.75 [[ 9.96912775e-01 1.81722532e-03 -7.84959612e-02 -1.41169088e+01] [-2.16109931e-03 9.99988437e-01 -4.29605797e-03 5.86425569e-02] [ 7.84872466e-02 4.45243264e-03 9.96905175e-01 7.47123418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.942557844 meters Centerline goodness : 0.129786 with order 3 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.06, Z:0.75 [[ 9.96895165e-01 -2.47312501e-03 -7.87014198e-02 -1.41162015e+01] [ 1.85564810e-03 9.99966931e-01 -7.91798425e-03 5.58445468e-02] [ 7.87183993e-02 7.74735807e-03 9.96866788e-01 7.46950674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.002557844 meters Centerline goodness : 0.399185 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.05, Z:0.75 [[ 9.96899896e-01 -2.32606330e-03 -7.86459527e-02 -1.41169681e+01] [ 1.73921720e-03 9.99970140e-01 -7.52954694e-03 5.39787297e-02] [ 7.86611185e-02 7.36942217e-03 9.96874175e-01 7.47872847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.062557844 meters Centerline goodness : 0.157073 with order 1 Centerline is valid? [False, False] Translation: X:-14.14, Y:0.05, Z:0.75 [[ 9.96829335e-01 6.77847248e-03 -7.92800734e-02 -1.41392328e+01] [-7.40370083e-03 9.99943749e-01 -7.59503579e-03 5.05797759e-02] [ 7.92241310e-02 8.15792041e-03 9.96823447e-01 7.46293549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.122557844 meters Centerline goodness : 0.150209 with order 1 Centerline is valid? [False, False] Translation: X:-14.14, Y:0.05, Z:0.75 [[ 9.96881109e-01 7.11766710e-03 -7.85963900e-02 -1.41416298e+01] [-7.77085938e-03 9.99937741e-01 -8.00798820e-03 5.47501517e-02] [ 7.85344984e-02 8.59377366e-03 9.96874355e-01 7.46974981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18255784400003 meters Centerline goodness : 0.151426 with order 1 Centerline is valid? [False, False] Translation: X:-14.14, Y:0.06, Z:0.75 [[ 9.96890132e-01 6.85889980e-03 -7.85049071e-02 -1.41420106e+01] [-7.57195071e-03 9.99932709e-01 -8.78880961e-03 5.86386275e-02] [ 7.84393428e-02 9.35591286e-03 9.96874985e-01 7.47031124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24255784400003 meters Centerline goodness : 0.142559 with order 1 Centerline is valid? [False, False] Translation: X:-14.14, Y:0.06, Z:0.75 [[ 9.96896338e-01 6.71254682e-03 -7.84387248e-02 -1.41422602e+01] [-7.45297336e-03 9.99930357e-01 -9.15061426e-03 6.04826799e-02] [ 7.83718382e-02 9.70681557e-03 9.96876940e-01 7.47081544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30255784400003 meters Centerline goodness : 0.147717 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.07, Z:0.75 [[ 9.96982193e-01 9.24781927e-03 -7.70777878e-02 -1.41474128e+01] [-9.83929116e-03 9.99924965e-01 -7.29746831e-03 6.73361283e-02] [ 7.70045185e-02 8.03383675e-03 9.96998376e-01 7.48944540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36255784400004 meters Centerline goodness : 0.149116 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.07, Z:0.75 [[ 9.96989965e-01 8.88933944e-03 -7.70194132e-02 -1.41480814e+01] [-9.53326514e-03 9.99922580e-01 -7.99692474e-03 7.07269318e-02] [ 7.69423630e-02 8.70710020e-03 9.96997522e-01 7.49632301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.422557844 meters Centerline goodness : 0.157031 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.07, Z:0.75 [[ 9.96969871e-01 8.58975550e-03 -7.73129453e-02 -1.41474622e+01] [-9.28312142e-03 9.99919813e-01 -8.61337849e-03 7.42774525e-02] [ 7.72327590e-02 9.30498431e-03 9.96969668e-01 7.49821522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.482557844 meters Centerline goodness : 0.115519 with order 2 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.08, Z:0.75 [[ 9.96918805e-01 3.27021192e-04 -7.84397206e-02 -1.41269537e+01] [-9.86565529e-04 9.99964487e-01 -8.36969005e-03 7.98678244e-02] [ 7.84341979e-02 8.42128733e-03 9.96883724e-01 7.52326232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.542557844 meters Centerline goodness : 0.152725 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.08, Z:0.75 [[ 9.96909047e-01 3.20602941e-04 -7.85636585e-02 -1.41269717e+01] [-9.86513811e-04 9.99963918e-01 -8.43740201e-03 8.05810229e-02] [ 7.85581187e-02 8.48882654e-03 9.96873393e-01 7.52800550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.602557844 meters Centerline goodness : 0.149315 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.96876857e-01 2.19202431e-04 -7.89714090e-02 -1.41249790e+01] [-9.06117788e-04 9.99962069e-01 -8.66254947e-03 8.13742083e-02] [ 7.89665147e-02 8.70705249e-03 9.96839243e-01 7.51467264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.662557844 meters Centerline goodness : 0.152055 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.08, Z:0.75 [[ 9.96900582e-01 2.50051319e-04 -7.86712565e-02 -1.41263073e+01] [-9.26598072e-04 9.99962905e-01 -8.56328148e-03 8.08108890e-02] [ 7.86661969e-02 8.60963693e-03 9.96863834e-01 7.52233335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.722557844 meters Centerline goodness : 0.151468 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.08, Z:0.75 [[ 9.96890619e-01 4.74560834e-04 -7.87963784e-02 -1.41263844e+01] [-1.10502922e-03 9.99967725e-01 -7.95782442e-03 7.75799462e-02] [ 7.87900589e-02 8.02015281e-03 9.96858969e-01 7.52877294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.782557844 meters Centerline goodness : 0.161160 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.08, Z:0.75 [[ 9.96881980e-01 5.89318848e-04 -7.89048235e-02 -1.41260031e+01] [-1.19472072e-03 9.99970211e-01 -7.62557004e-03 7.55145425e-02] [ 7.88979792e-02 7.69606259e-03 9.96852988e-01 7.52766420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.842557844 meters Centerline goodness : 0.103763 with order 2 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.08, Z:0.75 [[ 9.96884244e-01 7.94589877e-04 -7.88744138e-02 -1.41259084e+01] [-1.38541254e-03 9.99971391e-01 -7.43623647e-03 7.50167348e-02] [ 7.88662486e-02 7.52234057e-03 9.96856825e-01 7.52519983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.902557844 meters Centerline goodness : 0.149991 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.96840808e-01 1.39354342e-03 -7.94132331e-02 -1.41241196e+01] [-1.98598702e-03 9.99970782e-01 -7.38176978e-03 7.64442704e-02] [ 7.94006260e-02 7.51616300e-03 9.96814450e-01 7.51724839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.962557844 meters Centerline goodness : 0.146743 with order 1 Centerline is valid? [False, False] Translation: X:-14.12, Y:0.08, Z:0.75 [[ 9.96849558e-01 1.73837537e-03 -7.92965110e-02 -1.41245283e+01] [-2.35430375e-03 9.99967779e-01 -7.67457854e-03 7.95104290e-02] [ 7.92806146e-02 7.83708830e-03 9.96821531e-01 7.51670577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.022557844 meters Centerline goodness : 0.151882 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.09, Z:0.75 [[ 9.96956551e-01 3.93753592e-03 -7.78596876e-02 -1.41311393e+01] [-4.44802344e-03 9.99969728e-01 -6.38416866e-03 8.67320131e-02] [ 7.78321928e-02 6.71106048e-03 9.96943886e-01 7.54481245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.082557844 meters Centerline goodness : 0.344899 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.09, Z:0.75 [[ 9.96964686e-01 3.67894398e-03 -7.77681214e-02 -1.41309501e+01] [-4.23784921e-03 9.99966358e-01 -7.02300355e-03 9.05174351e-02] [ 7.77396679e-02 7.33125610e-03 9.96946737e-01 7.53854402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.142557844 meters Centerline goodness : 0.148483 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.09, Z:0.75 [[ 9.96924350e-01 2.87035821e-03 -7.83173163e-02 -1.41297291e+01] [-3.50591752e-03 9.99962022e-01 -7.97889115e-03 9.38334470e-02] [ 7.82914397e-02 8.22892492e-03 9.96896552e-01 7.54134012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.202557844 meters Centerline goodness : 0.099914 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.10, Z:0.75 [[ 9.96887007e-01 2.58877565e-03 -7.88009703e-02 -1.41285494e+01] [-3.27218175e-03 9.99958140e-01 -8.54466864e-03 9.69707547e-02] [ 7.87755515e-02 8.77592025e-03 9.96853748e-01 7.54243616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.262557844 meters Centerline goodness : 0.150578 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.10, Z:0.75 [[ 9.96879106e-01 1.91971596e-03 -7.89199764e-02 -1.41280028e+01] [-2.70291202e-03 9.99948146e-01 -9.81830130e-03 1.02916814e-01] [ 7.88970357e-02 1.00009732e-02 9.96832603e-01 7.53853410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.322557844 meters Centerline goodness : 0.155321 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.11, Z:0.75 [[ 9.96895311e-01 1.72585990e-03 -7.87195003e-02 -1.41290566e+01] [-2.55264592e-03 9.99942624e-01 -1.04035198e-02 1.06848084e-01] [ 7.86970287e-02 1.05721631e-02 9.96842519e-01 7.54441628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.382557844 meters Centerline goodness : 0.097970 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.11, Z:0.76 [[ 9.96859321e-01 8.21005127e-04 -7.91885084e-02 -1.41284090e+01] [-1.71746843e-03 9.99935206e-01 -1.12531793e-02 1.08862757e-01] [ 7.91741386e-02 1.13538405e-02 9.96796141e-01 7.55236662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.442557844 meters Centerline goodness : 0.149932 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.11, Z:0.76 [[ 9.96825198e-01 5.67194594e-04 -7.96191067e-02 -1.41272476e+01] [-1.46661067e-03 9.99935771e-01 -1.12384620e-02 1.07939103e-01] [ 7.96076184e-02 1.13195524e-02 9.96762005e-01 7.55248729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.502557844 meters Centerline goodness : 0.153029 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.11, Z:0.76 [[ 9.96827818e-01 7.13263918e-04 -7.95851235e-02 -1.41272323e+01] [-1.59065832e-03 9.99938653e-01 -1.09617510e-02 1.06797104e-01] [ 7.95724225e-02 1.10535711e-02 9.96767801e-01 7.55193120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.562557844 meters Centerline goodness : 0.243833 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.11, Z:0.76 [[ 9.96880263e-01 1.16270156e-03 -7.89201478e-02 -1.41296764e+01] [-2.02425263e-03 9.99939222e-01 -1.08376203e-02 1.07003805e-01] [ 7.89027503e-02 1.09635641e-02 9.96822028e-01 7.56044340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.622557844 meters Centerline goodness : 0.146049 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.11, Z:0.76 [[ 9.96867212e-01 1.31576734e-03 -7.90824302e-02 -1.41288217e+01] [-2.17724608e-03 9.99939219e-01 -1.08081890e-02 1.07078485e-01] [ 7.90634025e-02 1.09465112e-02 9.96809486e-01 7.55316988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68255784400003 meters Centerline goodness : 0.149959 with order 1 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.11, Z:0.75 [[ 9.96851428e-01 1.56737879e-03 -7.92765685e-02 -1.41279501e+01] [-2.42173747e-03 9.99940014e-01 -1.06819417e-02 1.07417089e-01] [ 7.92550704e-02 1.08402959e-02 9.96795426e-01 7.54707593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74255784400003 meters Centerline goodness : 0.459455 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.11, Z:0.76 [[ 9.96866771e-01 1.46323736e-03 -7.90853975e-02 -1.41289841e+01] [-2.32637947e-03 9.99938723e-01 -1.08230181e-02 1.07713809e-01] [ 7.90647147e-02 1.09730898e-02 9.96809090e-01 7.55409869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80255784400003 meters Centerline goodness : 0.231011 with order 3 Centerline is valid? [False, False] Translation: X:-14.13, Y:0.11, Z:0.75 [[ 9.96838496e-01 1.41032260e-03 -7.94419512e-02 -1.41271860e+01] [-2.31902996e-03 9.99932926e-01 -1.13475351e-02 1.11378026e-01] [ 7.94206190e-02 1.14958881e-02 9.96774904e-01 7.54152199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86255784400004 meters Centerline goodness : 0.219326 with order 3 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.12, Z:0.75 [[ 9.96825667e-01 -7.08818234e-03 -7.92990986e-02 -1.41477476e+01] [ 6.23011819e-03 9.99919397e-01 -1.10627903e-02 1.18052283e-01] [ 7.93711220e-02 1.05336305e-02 9.96789480e-01 7.51162760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.922557844 meters Centerline goodness : 0.237548 with order 3 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.12, Z:0.75 [[ 9.96818894e-01 -5.22183207e-03 -7.95287745e-02 -1.41493615e+01] [ 4.46811444e-03 9.99943433e-01 -9.65230265e-03 1.24046025e-01] [ 7.95746785e-02 9.26625398e-03 9.96785838e-01 7.53312957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.982557844 meters Centerline goodness : 0.098397 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.13, Z:0.75 [[ 9.96858259e-01 -6.57740722e-03 -7.89325591e-02 -1.41513979e+01] [ 5.74521133e-03 9.99925544e-01 -1.07655971e-02 1.26613910e-01] [ 7.89974919e-02 1.02782902e-02 9.96821826e-01 7.54037760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.042557844 meters Centerline goodness : 0.141808 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.13, Z:0.75 [[ 9.96843263e-01 -6.88426252e-03 -7.90956094e-02 -1.41511265e+01] [ 6.04571632e-03 9.99923009e-01 -1.08362642e-02 1.26738889e-01] [ 7.91641195e-02 1.03238673e-02 9.96808136e-01 7.54388021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.102557844 meters Centerline goodness : 0.099512 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.13, Z:0.75 [[ 9.96824425e-01 -6.97393919e-03 -7.93248393e-02 -1.41506681e+01] [ 6.13517827e-03 9.99922721e-01 -1.08125615e-02 1.26397572e-01] [ 7.93941153e-02 1.02915534e-02 9.96790178e-01 7.54583603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.162557844 meters Centerline goodness : 0.093582 with order 1 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.13, Z:0.76 [[ 9.96804096e-01 -7.68526478e-03 -7.95143404e-02 -1.41507690e+01] [ 6.82988315e-03 9.99915909e-01 -1.10239614e-02 1.25507523e-01] [ 7.95923760e-02 1.04456562e-02 9.96772763e-01 7.55564596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.222557844 meters Centerline goodness : 0.232569 with order 3 Centerline is valid? [False, False] Translation: X:-14.15, Y:0.12, Z:0.76 [[ 9.96868889e-01 -7.35767403e-03 -7.87291676e-02 -1.41532744e+01] [ 6.53834569e-03 9.99921808e-01 -1.06596493e-02 1.24810753e-01] [ 7.88014419e-02 1.01115142e-02 9.96839049e-01 7.56304852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.282557844 meters Centerline goodness : 0.190740 with order 1 Centerline is valid? [False, False] Translation: X:-14.17, Y:0.12, Z:0.75 [[ 9.96889827e-01 1.00582630e-03 -7.88014003e-02 -1.41736916e+01] [-1.93306369e-03 9.99929785e-01 -1.16913640e-02 1.18244069e-01] [ 7.87841078e-02 1.18073300e-02 9.96821775e-01 7.53373922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.342557844 meters Centerline goodness : 0.226213 with order 3 Centerline is valid? [False, False] Translation: X:-14.18, Y:0.12, Z:0.75 [[ 9.96937789e-01 1.67450562e-03 -7.81808178e-02 -1.41754713e+01] [-2.56175065e-03 9.99933438e-01 -1.12497144e-02 1.17596922e-01] [ 7.81567763e-02 1.14155451e-02 9.96875721e-01 7.53497673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.402557844 meters Centerline goodness : 0.148808 with order 1 Centerline is valid? [False, False] Translation: X:-14.17, Y:0.12, Z:0.75 [[ 9.96929515e-01 1.76980286e-03 -7.82841669e-02 -1.41747929e+01] [-2.65186815e-03 9.99934154e-01 -1.11649563e-02 1.16893378e-01] [ 7.82592523e-02 1.13382738e-02 9.96868564e-01 7.52831432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.462557844 meters Centerline goodness : 0.219089 with order 3 Centerline is valid? [False, False] Translation: X:-14.22, Y:0.11, Z:0.75 [[ 9.96740246e-01 3.11645310e-03 -8.06174336e-02 -1.42220932e+01] [-3.94335206e-03 9.99941219e-01 -1.00998972e-02 1.11047449e-01] [ 8.05812190e-02 1.03848770e-02 9.96693946e-01 7.51272930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.522557844 meters Centerline goodness : 0.141521 with order 1 Centerline is valid? [False, False] Translation: X:-14.20, Y:0.11, Z:0.75 [[ 9.96771309e-01 -5.15276235e-03 -8.01274415e-02 -1.42013195e+01] [ 4.43010446e-03 9.99947921e-01 -9.19401599e-03 1.12593104e-01] [ 8.01706431e-02 8.80935842e-03 9.96742225e-01 7.53115287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.582557844 meters Centerline goodness : 0.146715 with order 1 Centerline is valid? [False, False] Translation: X:-14.25, Y:0.11, Z:0.75 [[ 9.96527868e-01 -6.03515817e-03 -8.30408624e-02 -1.42460860e+01] [ 5.26846724e-03 9.99941481e-01 -9.44872858e-03 1.05401495e-01] [ 8.30930274e-02 8.97842329e-03 9.96501348e-01 7.50519759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.642557844 meters Centerline goodness : 0.158483 with order 1 Centerline is valid? [False, False] Translation: X:-14.24, Y:0.10, Z:0.75 [[ 9.96441890e-01 -6.17829691e-03 -8.40558700e-02 -1.42425402e+01] [ 5.42851063e-03 9.99943442e-01 -9.14572760e-03 1.02606462e-01] [ 8.41076210e-02 8.65688791e-03 9.96419072e-01 7.49348744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.702557844 meters Centerline goodness : 0.401015 with order 1 Centerline is valid? [False, False] Translation: X:-14.24, Y:0.10, Z:0.75 [[ 9.96463338e-01 -6.01274717e-03 -8.38132667e-02 -1.42436255e+01] [ 5.29871864e-03 9.99947774e-01 -8.73912114e-03 1.00823236e-01] [ 8.38614356e-02 8.26411090e-03 9.96443156e-01 7.50011988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.762557844 meters Centerline goodness : 0.225087 with order 3 Centerline is valid? [False, False] Translation: X:-14.24, Y:0.10, Z:0.75 [[ 9.96425590e-01 -5.81700676e-03 -8.42745820e-02 -1.42424544e+01] [ 5.14139334e-03 9.99952902e-01 -8.23162666e-03 9.82959466e-02] [ 8.43184963e-02 7.76891468e-03 9.96408568e-01 7.50132689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.822557844 meters Centerline goodness : 0.089724 with order 1 Centerline is valid? [False, False] Translation: X:-14.24, Y:0.10, Z:0.75 [[ 9.96343960e-01 -5.50216746e-03 -8.52551421e-02 -1.42389450e+01] [ 4.84137348e-03 9.99956634e-01 -7.95559782e-03 9.75884647e-02] [ 8.52952179e-02 7.51375985e-03 9.96327391e-01 7.48648595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.882557844 meters Centerline goodness : 0.219056 with order 3 Centerline is valid? [False, False] Translation: X:-14.25, Y:0.10, Z:0.75 [[ 9.96508467e-01 -4.27467098e-03 -8.33822627e-02 -1.42451748e+01] [ 3.72815980e-03 9.99970545e-01 -6.70888808e-03 9.50148258e-02] [ 8.34084850e-02 6.37460138e-03 9.96495052e-01 7.50391779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.942557844 meters Centerline goodness : 0.237234 with order 3 Centerline is valid? [False, False] Translation: X:-14.23, Y:0.09, Z:0.75 [[ 9.96550671e-01 4.06675212e-03 -8.28868025e-02 -1.42251807e+01] [-4.77470449e-03 9.99953782e-01 -8.34476392e-03 9.39175746e-02] [ 8.28490356e-02 8.71174007e-03 9.96524030e-01 7.53336555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.002557844 meters Centerline goodness : 0.141285 with order 3 Centerline is valid? [False, False] Translation: X:-14.22, Y:0.10, Z:0.75 [[ 9.96526391e-01 4.48845190e-03 -8.31565094e-02 -1.42242294e+01] [-5.21381535e-03 9.99950216e-01 -8.50776635e-03 9.66394128e-02] [ 8.31141829e-02 8.91177639e-03 9.96500182e-01 7.52822543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.062557844 meters Centerline goodness : 0.087379 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:0.10, Z:0.75 [[ 9.96627697e-01 5.12525000e-03 -8.18960658e-02 -1.42283255e+01] [-5.84978035e-03 9.99945827e-01 -8.60945836e-03 1.00590969e-01] [ 8.18475037e-02 9.05949865e-03 9.96603688e-01 7.53652557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.122557844 meters Centerline goodness : 0.142759 with order 1 Centerline is valid? [False, False] Translation: X:-14.23, Y:0.10, Z:0.75 [[ 9.96633130e-01 4.90400135e-03 -8.18434729e-02 -1.42284794e+01] [-5.66598563e-03 9.99942718e-01 -9.08060879e-03 1.02877138e-01] [ 8.17942534e-02 9.51375950e-03 9.96603827e-01 7.53566795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18255784400003 meters Centerline goodness : 0.132515 with order 3 Centerline is valid? [False, False] Translation: X:-14.25, Y:0.10, Z:0.75 [[ 9.96693943e-01 -4.81579206e-03 -8.11048172e-02 -1.42522279e+01] [ 4.09771554e-03 9.99950943e-01 -9.01780651e-03 1.04376189e-01] [ 8.11442663e-02 8.65564866e-03 9.96664782e-01 7.52192019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24255784400003 meters Centerline goodness : 0.090163 with order 1 Centerline is valid? [False, False] Translation: X:-14.25, Y:0.10, Z:0.75 [[ 9.96744218e-01 -5.33517946e-03 -8.04518487e-02 -1.42540687e+01] [ 4.62998833e-03 9.99949235e-01 -8.94938438e-03 1.02479523e-01] [ 8.04955111e-02 8.54775602e-03 9.96718320e-01 7.52602385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30255784400003 meters Centerline goodness : 0.089552 with order 1 Centerline is valid? [False, False] Translation: X:-14.30, Y:0.10, Z:0.75 [[ 9.96459494e-01 -6.60589786e-03 -8.38143143e-02 -1.42959487e+01] [ 5.80830814e-03 9.99935536e-01 -9.75642693e-03 9.88746331e-02] [ 8.38733612e-02 9.23506488e-03 9.96433627e-01 7.48339056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36255784400004 meters Centerline goodness : 0.203614 with order 3 Centerline is valid? [False, False] Translation: X:-14.29, Y:0.10, Z:0.75 [[ 9.96421805e-01 -6.36407920e-03 -8.42797970e-02 -1.42946265e+01] [ 5.56119139e-03 9.99936927e-01 -9.75780035e-03 1.00275081e-01] [ 8.43365807e-02 9.25418896e-03 9.96394350e-01 7.48058946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.422557844 meters Centerline goodness : 0.223667 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:0.10, Z:0.75 [[ 9.96443148e-01 -6.38896346e-03 -8.40251968e-02 -1.42952471e+01] [ 5.59658522e-03 9.99937656e-01 -9.66241294e-03 9.93441689e-02] [ 8.40816911e-02 9.15779100e-03 9.96416782e-01 7.47989355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.482557844 meters Centerline goodness : 0.223836 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:0.10, Z:0.75 [[ 9.96447315e-01 -6.57110837e-03 -8.39617074e-02 -1.42951514e+01] [ 5.79687168e-03 9.99938434e-01 -9.46177269e-03 9.76763283e-02] [ 8.40187125e-02 8.94144275e-03 9.96424060e-01 7.47733257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.542557844 meters Centerline goodness : 0.222050 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:0.10, Z:0.75 [[ 9.96448478e-01 -6.60422527e-03 -8.39453148e-02 -1.42952986e+01] [ 5.85289590e-03 9.99940613e-01 -9.19317368e-03 9.58763817e-02] [ 8.40010433e-02 8.66920073e-03 9.96427955e-01 7.47941032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.602557844 meters Centerline goodness : 0.222515 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:0.09, Z:0.75 [[ 9.96458991e-01 -6.67779958e-03 -8.38145903e-02 -1.42957001e+01] [ 5.96959966e-03 9.99944358e-01 -8.69737304e-03 9.27043922e-02] [ 8.38680061e-02 8.16623602e-03 9.96443410e-01 7.48190728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.662557844 meters Centerline goodness : 0.098381 with order 1 Centerline is valid? [False, False] Translation: X:-14.29, Y:0.09, Z:0.75 [[ 9.96386899e-01 -6.68879494e-03 -8.46664515e-02 -1.42928704e+01] [ 6.02585536e-03 9.99949175e-01 -8.08315013e-03 8.82421402e-02] [ 8.47162148e-02 7.54375710e-03 9.96376563e-01 7.47369220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.722557844 meters Centerline goodness : 0.174270 with order 1 Centerline is valid? [False, False] Translation: X:-14.30, Y:0.08, Z:0.75 [[ 9.96453161e-01 -6.66807261e-03 -8.38846466e-02 -1.42956286e+01] [ 6.06091308e-03 9.99953577e-01 -7.49060872e-03 8.37950221e-02] [ 8.39307003e-02 6.95562319e-03 9.96447318e-01 7.48406059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.782557844 meters Centerline goodness : 0.173083 with order 3 Centerline is valid? [False, False] Translation: X:-14.30, Y:0.08, Z:0.75 [[ 9.96472316e-01 -6.20452080e-03 -8.36924554e-02 -1.42964287e+01] [ 5.66967620e-03 9.99961970e-01 -6.62675584e-03 8.02919972e-02] [ 8.37303884e-02 6.12886962e-03 9.96469598e-01 7.48898725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.842557844 meters Centerline goodness : 0.139584 with order 3 Centerline is valid? [False, False] Translation: X:-14.31, Y:0.08, Z:0.75 [[ 9.96312042e-01 2.63107412e-03 -8.57635828e-02 -1.43149540e+01] [-3.29311781e-03 9.99965858e-01 -7.57884191e-03 7.69486874e-02] [ 8.57407142e-02 7.83332104e-03 9.96286690e-01 7.45767250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.902557844 meters Centerline goodness : 0.143557 with order 3 Centerline is valid? [False, False] Translation: X:-14.32, Y:0.08, Z:0.75 [[ 9.96361102e-01 3.44125393e-03 -8.51628529e-02 -1.43167076e+01] [-4.08709006e-03 9.99964191e-01 -7.41035370e-03 7.95084439e-02] [ 8.51343024e-02 7.73145643e-03 9.96339488e-01 7.45851236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.962557844 meters Centerline goodness : 0.140201 with order 3 Centerline is valid? [False, False] Translation: X:-14.32, Y:0.08, Z:0.75 [[ 9.96413783e-01 3.67029460e-03 -8.45346207e-02 -1.43183721e+01] [-4.36341409e-03 9.99958352e-01 -8.01593714e-03 8.37986564e-02] [ 8.45016791e-02 8.35604980e-03 9.96388299e-01 7.45622281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.022557844 meters Centerline goodness : 0.143412 with order 3 Centerline is valid? [False, False] Translation: X:-14.32, Y:0.09, Z:0.75 [[ 9.96417995e-01 3.54691497e-03 -8.44902239e-02 -1.43184570e+01] [-4.26881762e-03 9.99955900e-01 -8.36508781e-03 8.56196302e-02] [ 8.44568276e-02 8.69579738e-03 9.96389195e-01 7.45512161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.082557844 meters Centerline goodness : 0.147972 with order 1 Centerline is valid? [False, False] Translation: X:-14.32, Y:0.09, Z:0.75 [[ 9.96451364e-01 3.29740303e-03 -8.41059203e-02 -1.43197585e+01] [-4.06777553e-03 9.99951317e-01 -8.98983051e-03 8.90569876e-02] [ 8.40721826e-02 9.30005288e-03 9.96416267e-01 7.45814047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.142557844 meters Centerline goodness : 0.103745 with order 1 Centerline is valid? [False, False] Translation: X:-14.30, Y:0.09, Z:0.75 [[ 9.96599974e-01 -5.05942300e-03 -8.22368175e-02 -1.43006281e+01] [ 4.39100820e-03 9.99955857e-01 -8.30675391e-03 9.48838127e-02] [ 8.22752148e-02 7.91740819e-03 9.96578197e-01 7.48184289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.202557844 meters Centerline goodness : 0.228458 with order 3 Centerline is valid? [False, False] Translation: X:-14.35, Y:0.09, Z:0.75 [[ 9.96398514e-01 -7.28157839e-03 -8.44806508e-02 -1.43459671e+01] [ 6.53751536e-03 9.99937398e-01 -9.08080077e-03 8.79797464e-02] [ 8.45414847e-02 8.49580283e-03 9.96383741e-01 7.45136306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.262557844 meters Centerline goodness : 0.228012 with order 3 Centerline is valid? [False, False] Translation: X:-14.34, Y:0.08, Z:0.74 [[ 9.96360400e-01 -7.33161739e-03 -8.49246727e-02 -1.43445824e+01] [ 6.62064014e-03 9.99940666e-01 -8.65047454e-03 8.46942704e-02] [ 8.49830558e-02 8.05673458e-03 9.96349823e-01 7.44914953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.322557844 meters Centerline goodness : 0.146291 with order 1 Centerline is valid? [False, False] Translation: X:-14.35, Y:0.08, Z:0.75 [[ 9.96383372e-01 -6.92823583e-03 -8.46887035e-02 -1.43453274e+01] [ 6.26566861e-03 9.99947671e-01 -8.08685495e-03 8.29445720e-02] [ 8.47402995e-02 7.52697645e-03 9.96374642e-01 7.45064122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.382557844 meters Centerline goodness : 0.236104 with order 3 Centerline is valid? [False, False] Translation: X:-14.35, Y:0.08, Z:0.74 [[ 9.96399880e-01 -6.82772996e-03 -8.45024311e-02 -1.43454605e+01] [ 6.16539275e-03 9.99948215e-01 -8.09656934e-03 8.31398550e-02] [ 8.45533364e-02 7.54643004e-03 9.96390378e-01 7.44512061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.442557844 meters Centerline goodness : 0.145649 with order 1 Centerline is valid? [False, False] Translation: X:-14.34, Y:0.08, Z:0.74 [[ 9.96289864e-01 -4.65144358e-03 -8.59352760e-02 -1.43387007e+01] [ 4.11543405e-03 9.99970965e-01 -6.41346972e-03 8.42773178e-02] [ 8.59626128e-02 6.03601391e-03 9.96280079e-01 7.41190904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.502557844 meters Centerline goodness : 0.142154 with order 3 Centerline is valid? [False, False] Translation: X:-14.39, Y:0.08, Z:0.74 [[ 9.96087436e-01 -4.75460161e-03 -8.82451948e-02 -1.43854532e+01] [ 4.17977680e-03 9.99968835e-01 -6.69759164e-03 8.14846009e-02] [ 8.82742890e-02 6.30254166e-03 9.96076266e-01 7.38584380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.562557844 meters Centerline goodness : 0.105053 with order 1 Centerline is valid? [False, False] Translation: X:-14.39, Y:0.08, Z:0.74 [[ 9.96121858e-01 -4.95781321e-03 -8.78445448e-02 -1.43866729e+01] [ 4.36638523e-03 9.99966499e-01 -6.92354155e-03 8.18148758e-02] [ 8.78759276e-02 6.51312795e-03 9.96110135e-01 7.38781199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.622557844 meters Centerline goodness : 0.153578 with order 1 Centerline is valid? [False, False] Translation: X:-14.38, Y:0.08, Z:0.74 [[ 9.96068605e-01 -4.95400282e-03 -8.84465506e-02 -1.43845629e+01] [ 4.37269147e-03 9.99967557e-01 -6.76500550e-03 8.09881520e-02] [ 8.84771950e-02 6.35166011e-03 9.96057951e-01 7.38077223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68255784400003 meters Centerline goodness : 0.156921 with order 1 Centerline is valid? [False, False] Translation: X:-14.39, Y:0.08, Z:0.74 [[ 9.96138808e-01 -5.05208520e-03 -8.76467482e-02 -1.43871590e+01] [ 4.51840593e-03 9.99970033e-01 -6.28630630e-03 7.76672698e-02] [ 8.76758806e-02 5.86601008e-03 9.96131783e-01 7.38966584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74255784400003 meters Centerline goodness : 0.161983 with order 1 Centerline is valid? [False, False] Translation: X:-14.39, Y:0.07, Z:0.74 [[ 9.96129719e-01 -8.73304682e-03 -8.74603673e-02 -1.43873426e+01] [ 8.00988869e-03 9.99930801e-01 -8.61595203e-03 6.85484087e-02] [ 8.75295587e-02 7.88205808e-03 9.96130739e-01 7.38889043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80255784400003 meters Centerline goodness : 0.117891 with order 2 Centerline is valid? [False, False] Translation: X:-14.41, Y:0.05, Z:0.73 [[ 9.96133470e-01 -3.08314997e-03 -8.77986597e-02 -1.44067354e+01] [ 2.15190195e-03 9.99940445e-01 -1.06993069e-02 5.49912541e-02] [ 8.78264185e-02 1.04690036e-02 9.96080780e-01 7.34947894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86255784400004 meters Centerline goodness : 0.166004 with order 1 Centerline is valid? [False, False] Translation: X:-14.41, Y:0.04, Z:0.74 [[ 9.96154280e-01 -3.26741404e-03 -8.75555515e-02 -1.44074268e+01] [ 2.41766259e-03 9.99948962e-01 -9.80957036e-03 4.28198223e-02] [ 8.75831348e-02 9.56016571e-03 9.96111338e-01 7.35057972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.922557844 meters Centerline goodness : 0.161416 with order 1 Centerline is valid? [False, False] Translation: X:-14.41, Y:0.04, Z:0.73 [[ 9.96175465e-01 -2.39698761e-03 -8.73424091e-02 -1.44075327e+01] [ 1.65676077e-03 9.99962105e-01 -8.54650515e-03 3.75470057e-02] [ 8.73595852e-02 8.36911327e-03 9.96141687e-01 7.34466434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.982557844 meters Centerline goodness : 0.159598 with order 1 Centerline is valid? [False, False] Translation: X:-14.41, Y:0.03, Z:0.73 [[ 9.96203130e-01 -2.03928061e-03 -8.70354226e-02 -1.44081170e+01] [ 1.34758890e-03 9.99967049e-01 -8.00525938e-03 3.49750010e-02] [ 8.70488797e-02 7.85757648e-03 9.96173053e-01 7.34146940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.042557844 meters Centerline goodness : 0.147959 with order 1 Centerline is valid? [False, False] Translation: X:-14.41, Y:0.03, Z:0.73 [[ 9.96229890e-01 -1.43840221e-03 -8.67406337e-02 -1.44090801e+01] [ 8.48534178e-04 9.99976268e-01 -6.83685304e-03 2.93556310e-02] [ 8.67484093e-02 6.73747496e-03 9.96207468e-01 7.34418323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.102557844 meters Centerline goodness : 0.097481 with order 1 Centerline is valid? [False, False] Translation: X:-14.41, Y:0.03, Z:0.73 [[ 9.96216969e-01 -1.18364006e-03 -8.68927433e-02 -1.44084392e+01] [ 6.46154935e-04 9.99980487e-01 -6.21348147e-03 2.59659461e-02] [ 8.68984024e-02 6.13382950e-03 9.96198295e-01 7.34139803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.162557844 meters Centerline goodness : 0.150791 with order 1 Centerline is valid? [False, False] Translation: X:-14.41, Y:0.02, Z:0.73 [[ 9.96173255e-01 -1.00424291e-03 -8.73947271e-02 -1.44064890e+01] [ 4.94189263e-04 9.99982722e-01 -5.85764664e-03 2.39945751e-02] [ 8.73990996e-02 5.79204138e-03 9.96156539e-01 7.33276032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.222557844 meters Centerline goodness : 0.141708 with order 1 Centerline is valid? [False, False] Translation: X:-14.41, Y:0.02, Z:0.73 [[ 9.96209876e-01 -9.48568956e-04 -8.69769144e-02 -1.44073240e+01] [ 4.32876478e-04 9.99982218e-01 -5.94774222e-03 2.49061119e-02] [ 8.69810097e-02 5.88754928e-03 9.96192572e-01 7.32867403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.282557844 meters Centerline goodness : 0.154926 with order 1 Centerline is valid? [False, False] Translation: X:-14.41, Y:0.03, Z:0.73 [[ 9.96196859e-01 -9.49038464e-04 -8.71258673e-02 -1.44068864e+01] [ 3.79829822e-04 9.99978480e-01 -6.54952176e-03 2.86090950e-02] [ 8.71302081e-02 6.49152000e-03 9.96175781e-01 7.32566862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.342557844 meters Centerline goodness : 0.152732 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.03, Z:0.73 [[ 9.95883242e-01 -1.31013516e-03 -9.06358237e-02 -1.44506773e+01] [ 6.89504362e-04 9.99976105e-01 -6.87849454e-03 3.15329688e-02] [ 9.06426697e-02 6.78768364e-03 9.95860349e-01 7.29476174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.402557844 meters Centerline goodness : 0.152993 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.04, Z:0.73 [[ 9.95892747e-01 -1.58355467e-03 -9.05269497e-02 -1.44510856e+01] [ 9.08985484e-04 9.99971519e-01 -7.49232710e-03 3.51520920e-02] [ 9.05362359e-02 7.37926653e-03 9.95865822e-01 7.29511002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.462557844 meters Centerline goodness : 0.159066 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.04, Z:0.73 [[ 9.95877482e-01 -2.12815593e-03 -9.06835785e-02 -1.44508198e+01] [ 1.39146062e-03 9.99965524e-01 -8.18624801e-03 3.77010355e-02] [ 9.06978737e-02 8.02631743e-03 9.95846110e-01 7.29735389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.522557844 meters Centerline goodness : 0.159724 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.04, Z:0.73 [[ 9.95888117e-01 -2.34097054e-03 -9.05614594e-02 -1.44516310e+01] [ 1.57560693e-03 9.99962447e-01 -8.52188569e-03 3.91439842e-02] [ 9.05780080e-02 8.34415543e-03 9.95854407e-01 7.30445224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.582557844 meters Centerline goodness : 0.110337 with order 2 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.04, Z:0.73 [[ 9.95887013e-01 1.66769478e-03 -9.05885013e-02 -1.44518505e+01] [-2.13626422e-03 9.99984836e-01 -5.07579100e-03 4.14972846e-02] [ 9.05786628e-02 5.24843531e-03 9.95875474e-01 7.30804625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.642557844 meters Centerline goodness : 0.155226 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.04, Z:0.73 [[ 9.95957217e-01 1.78026256e-03 -8.98112083e-02 -1.44547555e+01] [-2.27088590e-03 9.99983052e-01 -5.36094351e-03 4.43088493e-02] [ 8.98001423e-02 5.54322138e-03 9.95944380e-01 7.31903630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.702557844 meters Centerline goodness : 0.148147 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.05, Z:0.73 [[ 9.95908368e-01 1.63586612e-03 -9.03540065e-02 -1.44525852e+01] [-2.15442162e-03 9.99981763e-01 -5.64192168e-03 4.56246230e-02] [ 9.03431294e-02 5.81349764e-03 9.95893730e-01 7.30858950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.762557844 meters Centerline goodness : 0.162791 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.05, Z:0.73 [[ 9.95866655e-01 -2.64899518e-03 -9.07887002e-02 -1.44508730e+01] [ 1.77580964e-03 9.99951404e-01 -9.69720724e-03 4.64216678e-02] [ 9.08099761e-02 9.49590189e-03 9.95822964e-01 7.30026965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.822557844 meters Centerline goodness : 0.153169 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:0.05, Z:0.73 [[ 9.95942769e-01 -1.10428560e-02 -8.93087649e-02 -1.44308072e+01] [ 1.03221615e-02 9.99910363e-01 -8.52753943e-03 4.75499069e-02] [ 8.93949279e-02 7.57108174e-03 9.95967482e-01 7.32681603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.882557844 meters Centerline goodness : 0.158716 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:0.04, Z:0.73 [[ 9.95894016e-01 -1.09731878e-02 -8.98593187e-02 -1.44290627e+01] [ 1.02821256e-02 9.99913926e-01 -8.14980518e-03 4.49111038e-02] [ 8.99410134e-02 7.19239741e-03 9.95921123e-01 7.32363360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.942557844 meters Centerline goodness : 0.160678 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:0.04, Z:0.73 [[ 9.95894070e-01 -1.08222823e-02 -8.98770200e-02 -1.44288924e+01] [ 1.01549029e-02 9.99917393e-01 -7.87944145e-03 4.38346299e-02] [ 8.99548691e-02 6.93439660e-03 9.95921702e-01 7.32218119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.002557844 meters Centerline goodness : 0.161538 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:0.04, Z:0.73 [[ 9.95933625e-01 -1.05563406e-02 -8.94694227e-02 -1.44298283e+01] [ 9.93992202e-03 9.99923713e-01 -7.33247968e-03 4.07881498e-02] [ 8.95400015e-02 6.41334398e-03 9.95962578e-01 7.32154689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.062557844 meters Centerline goodness : 0.158117 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:0.04, Z:0.73 [[ 9.95953440e-01 -1.00733354e-02 -8.93043891e-02 -1.44302174e+01] [ 9.47538950e-03 9.99929780e-01 -7.11702141e-03 4.11113583e-02] [ 8.93698103e-02 6.24202808e-03 9.95978953e-01 7.31973710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.122557844 meters Centerline goodness : 0.156078 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:0.04, Z:0.73 [[ 9.96061165e-01 -9.51065481e-03 -8.81572593e-02 -1.44334645e+01] [ 8.92218665e-03 9.99935225e-01 -7.06686135e-03 4.29917357e-02] [ 8.82187594e-02 6.25247063e-03 9.96081501e-01 7.32190354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18255784400003 meters Centerline goodness : 0.152618 with order 1 Centerline is valid? [False, False] Translation: X:-14.43, Y:0.04, Z:0.73 [[ 9.96023192e-01 -9.56183925e-03 -8.85797452e-02 -1.44322602e+01] [ 8.95695637e-03 9.99933794e-01 -7.22365951e-03 4.37322703e-02] [ 8.86429522e-02 6.40152749e-03 9.96042894e-01 7.32000771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24255784400003 meters Centerline goodness : 0.103352 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.04, Z:0.73 [[ 9.96140483e-01 -2.40798980e-03 -8.77401880e-02 -1.44510301e+01] [ 1.67138997e-03 9.99962751e-01 -8.46773762e-03 3.67044189e-02] [ 8.77573100e-02 8.28840817e-03 9.96107402e-01 7.28526896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30255784400003 meters Centerline goodness : 0.105701 with order 2 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.03, Z:0.73 [[ 9.96209044e-01 -2.68244445e-03 -8.69502428e-02 -1.44530009e+01] [ 1.96940011e-03 9.99963737e-01 -8.28534751e-03 3.43571860e-02] [ 8.69693147e-02 8.08269831e-03 9.96178201e-01 7.28610873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36255784400004 meters Centerline goodness : 0.154872 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.03, Z:0.73 [[ 9.96190156e-01 -2.57500868e-03 -8.71696189e-02 -1.44523125e+01] [ 1.86957505e-03 9.99964850e-01 -8.17332827e-03 3.43539770e-02] [ 8.71876013e-02 7.97921902e-03 9.96159954e-01 7.28438218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.422557844 meters Centerline goodness : 0.158088 with order 1 Centerline is valid? [False, False] Translation: X:-14.45, Y:0.04, Z:0.73 [[ 9.96216646e-01 -2.48497352e-03 -8.68689776e-02 -1.44535240e+01] [ 1.77644774e-03 9.99964534e-01 -8.23261182e-03 3.51660150e-02] [ 8.68863545e-02 8.04714674e-03 9.96185728e-01 7.28964527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.482557844 meters Centerline goodness : 0.158117 with order 3 Centerline is valid? [False, False] Translation: X:-14.47, Y:0.03, Z:0.73 [[ 9.96151560e-01 5.87673577e-03 -8.74501715e-02 -1.44730373e+01] [-6.68584542e-03 9.99937487e-01 -8.96221166e-03 2.99564242e-02] [ 8.73920362e-02 9.51239946e-03 9.96128579e-01 7.26071674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.542557844 meters Centerline goodness : 0.121610 with order 2 Centerline is valid? [False, False] Translation: X:-14.47, Y:0.03, Z:0.73 [[ 9.96202465e-01 1.72944532e-03 -8.70497383e-02 -1.44738331e+01] [-2.82352684e-03 9.99918548e-01 -1.24469064e-02 2.71450881e-02] [ 8.70211217e-02 1.26454261e-02 9.96126206e-01 7.25691990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.602557844 meters Centerline goodness : 0.170117 with order 1 Centerline is valid? [False, False] Translation: X:-14.47, Y:0.02, Z:0.73 [[ 9.96228005e-01 -1.94324364e-03 -8.67524372e-02 -1.44749902e+01] [ 6.05719051e-04 9.99880591e-01 -1.54413797e-02 2.43967781e-02] [ 8.67720845e-02 1.53305873e-02 9.96110224e-01 7.26097837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.662557844 meters Centerline goodness : 0.158671 with order 1 Centerline is valid? [False, False] Translation: X:-14.51, Y:0.02, Z:0.72 [[ 9.95805791e-01 -3.89749415e-03 -9.14091652e-02 -1.45125118e+01] [ 2.42876539e-03 9.99866253e-01 -1.61733697e-02 1.55659262e-02] [ 9.14599751e-02 1.58835238e-02 9.95682071e-01 7.20816746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.722557844 meters Centerline goodness : 0.160765 with order 1 Centerline is valid? [False, False] Translation: X:-14.51, Y:0.01, Z:0.72 [[ 9.95791807e-01 -3.32093748e-03 -9.15841011e-02 -1.45117936e+01] [ 1.95655827e-03 9.99885830e-01 -1.49833171e-02 9.93409390e-03] [ 9.16234036e-02 1.47410748e-02 9.95684615e-01 7.20526831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.782557844 meters Centerline goodness : 0.323153 with order 1 Centerline is valid? [False, False] Translation: X:-14.51, Y:0.01, Z:0.72 [[ 9.95832218e-01 -2.99816361e-03 -9.11548375e-02 -1.45134792e+01] [ 1.69424145e-03 9.99895189e-01 -1.43784925e-02 7.07347499e-03] [ 9.11883925e-02 1.41641278e-02 9.95732923e-01 7.21318687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.842557844 meters Centerline goodness : 0.282387 with order 2 Centerline is valid? [False, False] Translation: X:-14.51, Y:0.00, Z:0.72 [[ 9.95779026e-01 -2.53483111e-03 -9.17480545e-02 -1.45111056e+01] [ 1.29666568e-03 9.99907322e-01 -1.35523712e-02 3.01250349e-03] [ 9.17739045e-02 1.33762005e-02 9.95690026e-01 7.20164922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.902557844 meters Centerline goodness : 0.405261 with order 1 Centerline is valid? [False, False] Translation: X:-14.51, Y:-0.00, Z:0.72 [[ 9.95736652e-01 -2.10270176e-03 -9.22176663e-02 -1.45091062e+01] [ 9.27203359e-04 9.99917800e-01 -1.27879895e-02 -9.29306201e-04] [ 9.22369754e-02 1.26479653e-02 9.95656753e-01 7.19183057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.962557844 meters Centerline goodness : 0.132167 with order 3 Centerline is valid? [False, False] Translation: X:-14.51, Y:-0.00, Z:0.72 [[ 9.95786892e-01 -1.89789240e-03 -9.16780435e-02 -1.45108745e+01] [ 7.42989428e-04 9.99919964e-01 -1.26298656e-02 -1.27084589e-03] [ 9.16946761e-02 1.25085388e-02 9.95708603e-01 7.19613093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.022557844 meters Centerline goodness : 0.137643 with order 3 Centerline is valid? [False, False] Translation: X:-14.51, Y:0.00, Z:0.72 [[ 9.95777746e-01 -1.48580791e-03 -9.17849285e-02 -1.45103213e+01] [ 3.05167443e-04 9.99917057e-01 -1.28758146e-02 2.23268149e-03] [ 9.17964466e-02 1.27934398e-02 9.95695606e-01 7.19027552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.082557844 meters Centerline goodness : 0.130237 with order 3 Centerline is valid? [False, False] Translation: X:-14.55, Y:0.00, Z:0.71 [[ 9.96278162e-01 1.58080686e-03 -8.61819308e-02 -1.45496134e+01] [-2.72757157e-03 9.99909285e-01 -1.31901956e-02 1.47866802e-03] [ 8.61532617e-02 1.33761713e-02 9.96192097e-01 7.14002326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.142557844 meters Centerline goodness : 0.132275 with order 3 Centerline is valid? [False, False] Translation: X:-14.55, Y:0.00, Z:0.72 [[ 9.96336414e-01 9.69741882e-04 -8.55149735e-02 -1.45521127e+01] [-2.12160114e-03 9.99908235e-01 -1.33798273e-02 6.70797928e-04] [ 8.54941513e-02 1.35122378e-02 9.96247042e-01 7.15159111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.202557844 meters Centerline goodness : 0.144008 with order 2 Centerline is valid? [False, False] Translation: X:-14.55, Y:-0.00, Z:0.72 [[ 9.96368779e-01 -3.31307270e-03 -8.50780839e-02 -1.45540110e+01] [ 1.91953871e-03 9.99862747e-01 -1.64560539e-02 -3.90169813e-03] [ 8.51209268e-02 1.62329876e-02 9.96238384e-01 7.16173711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.262557844 meters Centerline goodness : 0.130796 with order 3 Centerline is valid? [False, False] Translation: X:-14.56, Y:-0.01, Z:0.72 [[ 9.96381466e-01 -7.22752491e-03 -8.46861112e-02 -1.45556700e+01] [ 5.58834507e-03 9.99792733e-01 -1.95770406e-02 -7.29497657e-03] [ 8.48100521e-02 1.90329452e-02 9.96215339e-01 7.17027689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.322557844 meters Centerline goodness : 0.131379 with order 3 Centerline is valid? [False, False] Translation: X:-14.55, Y:-0.01, Z:0.72 [[ 9.96219530e-01 -7.12945623e-03 -8.65783953e-02 -1.45496324e+01] [ 5.52827322e-03 9.99809487e-01 -1.87197305e-02 -1.25608237e-02] [ 8.66953624e-02 1.81703321e-02 9.96069151e-01 7.15557678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.382557844 meters Centerline goodness : 0.143133 with order 2 Centerline is valid? [False, False] Translation: X:-14.55, Y:-0.02, Z:0.72 [[ 9.96193809e-01 -1.08695687e-02 -8.64855375e-02 -1.45503349e+01] [ 9.05793101e-03 9.99731836e-01 -2.13122237e-02 -1.99597431e-02] [ 8.66939998e-02 2.04477253e-02 9.96025121e-01 7.16255127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.442557844 meters Centerline goodness : 0.148129 with order 2 Centerline is valid? [False, False] Translation: X:-14.55, Y:-0.03, Z:0.72 [[ 9.96176252e-01 -1.37647995e-02 -8.62751690e-02 -1.45517475e+01] [ 1.18275931e-02 9.99667223e-01 -2.29249220e-02 -2.85693778e-02] [ 8.65620155e-02 2.18168353e-02 9.96007552e-01 7.17193531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.502557844 meters Centerline goodness : 0.135325 with order 3 Centerline is valid? [False, False] Translation: X:-14.57, Y:-0.04, Z:0.71 [[ 9.96266658e-01 -7.12942746e-03 -8.60343990e-02 -1.45705271e+01] [ 5.06409372e-03 9.99694303e-01 -2.42003236e-02 -3.95315195e-02] [ 8.61806330e-02 2.36742892e-02 9.95998206e-01 7.13416020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.562557844 meters Centerline goodness : 0.135825 with order 3 Centerline is valid? [False, False] Translation: X:-14.57, Y:-0.05, Z:0.71 [[ 9.96215855e-01 -6.69661741e-03 -8.66552099e-02 -1.45687642e+01] [ 4.71864900e-03 9.99724088e-01 -2.30104663e-02 -4.57386887e-02] [ 8.67853930e-02 2.25144958e-02 9.95972586e-01 7.13139308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.622557844 meters Centerline goodness : 0.134653 with order 3 Centerline is valid? [False, False] Translation: X:-14.57, Y:-0.05, Z:0.71 [[ 9.96220991e-01 -6.68343564e-03 -8.65971657e-02 -1.45692200e+01] [ 4.77118669e-03 9.99740601e-01 -2.22703089e-02 -5.18709419e-02] [ 8.67235446e-02 2.17729780e-02 9.95994460e-01 7.13510794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68255784400003 meters Centerline goodness : 0.133378 with order 3 Centerline is valid? [False, False] Translation: X:-14.57, Y:-0.06, Z:0.71 [[ 9.96244411e-01 -1.00561487e-02 -8.59996910e-02 -1.45712710e+01] [ 7.98528994e-03 9.99670626e-01 -2.43900412e-02 -6.03603737e-02] [ 8.62166348e-02 2.36117098e-02 9.95996576e-01 7.14117293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74255784400003 meters Centerline goodness : 0.125709 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.07, Z:0.71 [[ 9.96319344e-01 -2.31604194e-03 -8.56878135e-02 -1.45897535e+01] [ 1.96213260e-04 9.99693922e-01 -2.47391303e-02 -7.11059991e-02] [ 8.57188832e-02 2.46312610e-02 9.96014846e-01 7.09809881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80255784400003 meters Centerline goodness : 0.133388 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.07, Z:0.71 [[ 9.96327334e-01 -2.12210281e-03 -8.55998877e-02 -1.45900766e+01] [ 2.05075793e-05 9.99698731e-01 -2.45447894e-02 -7.17898990e-02] [ 8.56261857e-02 2.44528892e-02 9.96027215e-01 7.09902333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.862557844 meters Centerline goodness : 0.147548 with order 2 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.07, Z:0.71 [[ 9.96327896e-01 -1.97858797e-03 -8.55967811e-02 -1.45903914e+01] [-9.51954142e-05 9.99706733e-01 -2.42164897e-02 -7.36993038e-02] [ 8.56195928e-02 2.41357126e-02 9.96035518e-01 7.10229903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.922557844 meters Centerline goodness : 0.134131 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96227869e-01 -2.04264161e-03 -8.67517167e-02 -1.45869108e+01] [-2.68490515e-05 9.99715608e-01 -2.38474644e-02 -7.67097492e-02] [ 8.67757571e-02 2.37598378e-02 9.95944495e-01 7.09466735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.982557844 meters Centerline goodness : 0.132020 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96176076e-01 -2.11936321e-03 -8.73426292e-02 -1.45851975e+01] [ 1.02245333e-04 9.99733332e-01 -2.30923171e-02 -8.43115799e-02] [ 8.73682787e-02 2.29950834e-02 9.95910644e-01 7.09212180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.042557844 meters Centerline goodness : 0.127914 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.09, Z:0.71 [[ 9.96170068e-01 -1.73413880e-03 -8.74196123e-02 -1.45853735e+01] [-2.06283984e-04 9.99753912e-01 -2.21827337e-02 -8.92983596e-02] [ 8.74365673e-02 2.21158086e-02 9.95924564e-01 7.09693011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.102557844 meters Centerline goodness : 0.126487 with order 3 Centerline is valid? [False, False] Translation: X:-14.58, Y:-0.09, Z:0.71 [[ 9.96157798e-01 -1.39661772e-03 -8.75653525e-02 -1.45848997e+01] [-5.25107441e-04 9.99759605e-01 -2.19193071e-02 -8.98006277e-02] [ 8.75749152e-02 2.18810699e-02 9.95917593e-01 7.09530968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.162557844 meters Centerline goodness : 0.153009 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.09, Z:0.71 [[ 9.96241089e-01 1.27922796e-03 -8.66144057e-02 -1.45892295e+01] [-2.99664063e-03 9.99801423e-01 -1.97011406e-02 -8.95944161e-02] [ 8.65720038e-02 1.98866381e-02 9.96047092e-01 7.11216250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.222557844 meters Centerline goodness : 0.221160 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.09, Z:0.71 [[ 9.96238760e-01 1.51516526e-03 -8.66373914e-02 -1.45893730e+01] [-3.23559368e-03 9.99800290e-01 -1.97208289e-02 -8.89096902e-02] [ 8.65902087e-02 1.99269775e-02 9.96044703e-01 7.11421346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.282557844 meters Centerline goodness : 0.118443 with order 2 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.09, Z:0.71 [[ 9.96226082e-01 1.83079381e-03 -8.67769648e-02 -1.45888030e+01] [-3.55833393e-03 9.99798473e-01 -1.97573195e-02 -8.73220957e-02] [ 8.67233054e-02 1.99915384e-02 9.96031830e-01 7.10979680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.342557844 meters Centerline goodness : 0.125740 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.09, Z:0.71 [[ 9.96277943e-01 1.80333199e-03 -8.61800953e-02 -1.45910600e+01] [-3.53539215e-03 9.99794733e-01 -1.99497503e-02 -8.62687117e-02] [ 8.61264294e-02 2.01801767e-02 9.96079815e-01 7.11950283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.402557844 meters Centerline goodness : 0.185466 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96261348e-01 1.65499261e-03 -8.63746946e-02 -1.45903380e+01] [-3.42485792e-03 9.99787125e-01 -2.03463905e-02 -8.41992640e-02] [ 8.63226345e-02 2.05661435e-02 9.96054936e-01 7.11596984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.462557844 meters Centerline goodness : 0.161373 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96248863e-01 1.56804170e-03 -8.65201906e-02 -1.45899344e+01] [-3.35910767e-03 9.99782990e-01 -2.05594297e-02 -8.32336263e-02] [ 8.64691767e-02 2.07729392e-02 9.96037934e-01 7.11577149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.522557844 meters Centerline goodness : 0.120188 with order 2 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96265080e-01 1.60571504e-03 -8.63325628e-02 -1.45902599e+01] [-3.39293418e-03 9.99782888e-01 -2.05588177e-02 -8.32125622e-02] [ 8.62808074e-02 2.07749529e-02 9.96054227e-01 7.11303814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.582557844 meters Centerline goodness : 0.125466 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96237725e-01 1.65916913e-03 -8.66466537e-02 -1.45890856e+01] [-3.44909946e-03 9.99783653e-01 -2.05121923e-02 -8.34726038e-02] [ 8.65938748e-02 2.07338727e-02 9.96027915e-01 7.10788789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.642557844 meters Centerline goodness : 0.140486 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96292710e-01 2.02255236e-03 -8.60043373e-02 -1.45911696e+01] [-3.78323004e-03 9.99786493e-01 -2.03139055e-02 -8.34047304e-02] [ 8.59448889e-02 2.05639702e-02 9.96087646e-01 7.11293289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.702557844 meters Centerline goodness : 0.124587 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96325697e-01 2.22152307e-03 -8.56164136e-02 -1.45922607e+01] [-3.97500812e-03 9.99785713e-01 -2.03156806e-02 -8.23382727e-02] [ 8.55529354e-02 2.05813605e-02 9.96121028e-01 7.11311994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.762557844 meters Centerline goodness : 0.132940 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96238288e-01 2.15367767e-03 -8.66292937e-02 -1.45885387e+01] [-3.95094905e-03 9.99780391e-01 -2.05805904e-02 -8.12703787e-02] [ 8.65659452e-02 2.08454401e-02 9.96028014e-01 7.09733196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.822557844 meters Centerline goodness : 0.153122 with order 1 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96227256e-01 2.25121550e-03 -8.67535922e-02 -1.45887523e+01] [-4.02858979e-03 9.99785452e-01 -2.03179881e-02 -8.24220458e-02] [ 8.66892392e-02 2.05908282e-02 9.96022587e-01 7.10446870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.882557844 meters Centerline goodness : 0.136428 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.08, Z:0.71 [[ 9.96369663e-01 6.69310920e-04 -8.51295909e-02 -1.45943940e+01] [-2.50861144e-03 9.99765685e-01 -2.15007522e-02 -8.31385207e-02] [ 8.50952530e-02 2.16362543e-02 9.96137877e-01 7.12040670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.942557844 meters Centerline goodness : 0.124989 with order 3 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.09, Z:0.71 [[ 9.96369063e-01 7.97632308e-04 -8.51355046e-02 -1.45944082e+01] [-2.58239426e-03 9.99779161e-01 -2.08557123e-02 -8.65669881e-02] [ 8.51000681e-02 2.09998399e-02 9.96151085e-01 7.12105660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.002557844 meters Centerline goodness : 0.137040 with order 3 Centerline is valid? [False, False] Translation: X:-14.60, Y:-0.09, Z:0.71 [[ 9.96379501e-01 8.65037236e-04 -8.50126022e-02 -1.45951113e+01] [-2.62793589e-03 9.99783783e-01 -2.06271918e-02 -8.81880826e-02] [ 8.49763778e-02 2.07759188e-02 9.96166340e-01 7.12691685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.062557844 meters Centerline goodness : 0.153821 with order 1 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.09, Z:0.71 [[ 9.96373436e-01 9.47325599e-04 -8.50827792e-02 -1.45949270e+01] [-2.72030613e-03 9.99781518e-01 -2.07247831e-02 -8.72971565e-02] [ 8.50445570e-02 2.08810745e-02 9.96158323e-01 7.12639458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.122557844 meters Centerline goodness : 0.135290 with order 3 Centerline is valid? [False, False] Translation: X:-14.60, Y:-0.09, Z:0.71 [[ 9.96396751e-01 1.11607925e-03 -8.48072453e-02 -1.45955562e+01] [-2.87684064e-03 9.99782781e-01 -2.06425505e-02 -8.72844458e-02] [ 8.47657848e-02 2.08121472e-02 9.96183525e-01 7.12464545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18255784400003 meters Centerline goodness : 0.138259 with order 3 Centerline is valid? [False, False] Translation: X:-14.60, Y:-0.09, Z:0.71 [[ 9.96408318e-01 1.17625155e-03 -8.46704241e-02 -1.45961434e+01] [-2.91866974e-03 9.99786453e-01 -2.04579871e-02 -8.84932116e-02] [ 8.46282793e-02 2.06316335e-02 9.96198971e-01 7.12790147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24255784400003 meters Centerline goodness : 0.135087 with order 3 Centerline is valid? [False, False] Translation: X:-14.60, Y:-0.09, Z:0.71 [[ 9.96386696e-01 1.34452041e-03 -8.49219858e-02 -1.45956484e+01] [-3.03481515e-03 9.99799788e-01 -1.97781317e-02 -9.23225674e-02] [ 8.48783912e-02 1.99643898e-02 9.96191288e-01 7.13036245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30255784400003 meters Centerline goodness : 0.119226 with order 2 Centerline is valid? [False, False] Translation: X:-14.60, Y:-0.10, Z:0.71 [[ 9.96404628e-01 1.25738646e-03 -8.47126707e-02 -1.45963791e+01] [-2.89440381e-03 9.99811391e-01 -1.92043059e-02 -9.69287723e-02] [ 8.46725459e-02 1.93804520e-02 9.96220336e-01 7.13382275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.362557844 meters Centerline goodness : 0.128875 with order 2 Centerline is valid? [False, False] Translation: X:-14.60, Y:-0.10, Z:0.71 [[ 9.96386099e-01 -2.43594191e-03 -8.49047006e-02 -1.45953408e+01] [ 5.93140094e-04 9.99763856e-01 -2.17228272e-02 -1.03891153e-01] [ 8.49375663e-02 2.15939626e-02 9.96152253e-01 7.12683690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.422557844 meters Centerline goodness : 0.199388 with order 3 Centerline is valid? [False, False] Translation: X:-14.57, Y:-0.11, Z:0.72 [[ 9.96263053e-01 -1.06661198e-02 -8.57097652e-02 -1.45720665e+01] [ 8.91239943e-03 9.99743561e-01 -2.08178183e-02 -1.06583556e-01] [ 8.59098312e-02 1.99761436e-02 9.96102633e-01 7.15181829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.482557844 meters Centerline goodness : 0.140512 with order 3 Centerline is valid? [False, False] Translation: X:-14.57, Y:-0.11, Z:0.72 [[ 9.96230437e-01 -9.98773666e-03 -8.61693749e-02 -1.45711752e+01] [ 8.34807531e-03 9.99777575e-01 -1.93677675e-02 -1.14047871e-01] [ 8.63436488e-02 1.85754110e-02 9.96092229e-01 7.15626432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.542557844 meters Centerline goodness : 0.127922 with order 3 Centerline is valid? [False, False] Translation: X:-14.57, Y:-0.12, Z:0.72 [[ 9.96235965e-01 -9.72829158e-03 -8.61351379e-02 -1.45713469e+01] [ 8.12597324e-03 9.99787723e-01 -1.89335008e-02 -1.16091772e-01] [ 8.63010440e-02 1.81623026e-02 9.96103539e-01 7.15756297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.602557844 meters Centerline goodness : 0.159980 with order 1 Centerline is valid? [False, False] Translation: X:-14.59, Y:-0.12, Z:0.71 [[ 9.96190323e-01 7.08713862e-05 -8.72057050e-02 -1.45936866e+01] [-1.64039279e-03 9.99837964e-01 -1.79263905e-02 -1.22085236e-01] [ 8.71903040e-02 1.80011483e-02 9.96029020e-01 7.14100103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.662557844 meters Centerline goodness : 0.151953 with order 1 Centerline is valid? [False, False] Translation: X:-14.60, Y:-0.12, Z:0.71 [[ 9.96240072e-01 4.69833777e-04 -8.66342788e-02 -1.45953956e+01] [-2.01554914e-03 9.99840332e-01 -1.77552359e-02 -1.21745852e-01] [ 8.66121041e-02 1.78630932e-02 9.96081951e-01 7.14346534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.722557844 meters Centerline goodness : 0.139932 with order 3 Centerline is valid? [False, False] Translation: X:-14.60, Y:-0.12, Z:0.71 [[ 9.96251866e-01 4.42658266e-04 -8.64986922e-02 -1.45958101e+01] [-1.99839632e-03 9.99837786e-01 -1.78999192e-02 -1.21033759e-01] [ 8.64767374e-02 1.80056866e-02 9.96091145e-01 7.14413101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.782557844 meters Centerline goodness : 0.128717 with order 3 Centerline is valid? [False, False] Translation: X:-14.60, Y:-0.12, Z:0.71 [[ 9.96318233e-01 7.82466099e-04 -8.57284471e-02 -1.45976704e+01] [-2.34877331e-03 9.99832131e-01 -1.81712253e-02 -1.17962878e-01] [ 8.56998376e-02 1.83056798e-02 9.96152820e-01 7.14055044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.842557844 meters Centerline goodness : 0.109978 with order 1 Centerline is valid? [False, False] Translation: X:-14.65, Y:-0.12, Z:0.71 [[ 9.96184791e-01 1.66579929e-03 -8.72530085e-02 -1.46458751e+01] [-3.11964894e-03 9.99858524e-01 -1.65287504e-02 -1.17109316e-01] [ 8.72131307e-02 1.67378885e-02 9.96049051e-01 7.11947481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.902557844 meters Centerline goodness : 0.150037 with order 1 Centerline is valid? [False, False] Translation: X:-14.65, Y:-0.11, Z:0.71 [[ 9.96183422e-01 1.45044007e-03 -8.72724796e-02 -1.46456556e+01] [-2.99254685e-03 9.99841653e-01 -1.75417861e-02 -1.11373309e-01] [ 8.72332169e-02 1.77360035e-02 9.96030020e-01 7.11542363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.962557844 meters Centerline goodness : 0.101669 with order 2 Centerline is valid? [False, False] Translation: X:-14.65, Y:-0.11, Z:0.71 [[ 9.96180582e-01 1.17746964e-03 -8.73089971e-02 -1.46452152e+01] [-2.77166014e-03 9.99831611e-01 -1.81401997e-02 -1.08408033e-01] [ 8.72729357e-02 1.83129056e-02 9.96016100e-01 7.11022224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.022557844 meters Centerline goodness : 0.152330 with order 1 Centerline is valid? [False, False] Translation: X:-14.65, Y:-0.10, Z:0.71 [[ 9.96200386e-01 6.69498317e-04 -8.70881301e-02 -1.46459588e+01] [-2.34278408e-03 9.99814587e-01 -1.91129173e-02 -1.03751920e-01] [ 8.70591867e-02 1.92443242e-02 9.96017246e-01 7.11175921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.082557844 meters Centerline goodness : 0.148368 with order 1 Centerline is valid? [False, False] Translation: X:-14.65, Y:-0.10, Z:0.71 [[ 9.96192342e-01 3.30425822e-04 -8.71820480e-02 -1.46452560e+01] [-2.07022992e-03 9.99800502e-01 -1.98663295e-02 -9.98033372e-02] [ 8.71580909e-02 1.99711722e-02 9.95994287e-01 7.10533825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.142557844 meters Centerline goodness : 0.144669 with order 1 Centerline is valid? [False, False] Translation: X:-14.69, Y:-0.10, Z:0.71 [[ 9.95855036e-01 -2.66775540e-04 -9.09542563e-02 -1.46873925e+01] [-1.50616119e-03 9.99810213e-01 -1.94234244e-02 -9.93912805e-02] [ 9.09421761e-02 1.94799067e-02 9.95665634e-01 7.06729758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.202557844 meters Centerline goodness : 0.149859 with order 1 Centerline is valid? [False, False] Translation: X:-14.69, Y:-0.10, Z:0.71 [[ 9.95852152e-01 -5.32134835e-04 -9.09846552e-02 -1.46872081e+01] [-1.29199866e-03 9.99799371e-01 -1.99887302e-02 -9.63858120e-02] [ 9.09770377e-02 2.00233720e-02 9.95651668e-01 7.06529389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.262557844 meters Centerline goodness : 0.117829 with order 3 Centerline is valid? [False, False] Translation: X:-14.69, Y:-0.10, Z:0.71 [[ 9.95886051e-01 -6.52299759e-04 -9.06120763e-02 -1.46884190e+01] [-1.17570178e-03 9.99796899e-01 -2.01190873e-02 -9.59220350e-02] [ 9.06067966e-02 2.01428512e-02 9.95683019e-01 7.06869367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.322557844 meters Centerline goodness : 0.118074 with order 2 Centerline is valid? [False, False] Translation: X:-14.69, Y:-0.09, Z:0.71 [[ 9.95932786e-01 -8.80355957e-04 -9.00950141e-02 -1.46890849e+01] [-1.00453229e-03 9.99781617e-01 -2.08736339e-02 -9.15716309e-02] [ 9.00937152e-02 2.08792397e-02 9.95714407e-01 7.05925627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.382557844 meters Centerline goodness : 0.113962 with order 2 Centerline is valid? [False, False] Translation: X:-14.69, Y:-0.09, Z:0.71 [[ 9.95922828e-01 -1.02153382e-03 -9.02035371e-02 -1.46883669e+01] [-9.28060711e-04 9.99766938e-01 -2.15686951e-02 -8.76009952e-02] [ 9.02045472e-02 2.15644701e-02 9.95689768e-01 7.05190921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.442557844 meters Centerline goodness : 0.146323 with order 1 Centerline is valid? [False, False] Translation: X:-14.69, Y:-0.08, Z:0.71 [[ 9.95922368e-01 -1.22436039e-03 -9.02060829e-02 -1.46885719e+01] [-7.80706526e-04 9.99753489e-01 -2.21889877e-02 -8.40461112e-02] [ 9.02110135e-02 2.21689337e-02 9.95675907e-01 7.05356139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.502557844 meters Centerline goodness : 0.122292 with order 3 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.08, Z:0.70 [[ 9.95841054e-01 -1.00305551e-02 -9.05537621e-02 -1.47098127e+01] [ 8.14573069e-03 9.99742916e-01 -2.11600640e-02 -8.06337976e-02] [ 9.07427294e-02 2.03344339e-02 9.95666745e-01 7.02847121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.562557844 meters Centerline goodness : 0.149950 with order 1 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.08, Z:0.70 [[ 9.95830418e-01 -1.02317113e-02 -9.06481684e-02 -1.47094632e+01] [ 8.36904667e-03 9.99746446e-01 -2.09046227e-02 -8.32554253e-02] [ 9.08390743e-02 2.00588204e-02 9.95663551e-01 7.02819217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.622557844 meters Centerline goodness : 0.175806 with order 3 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.09, Z:0.70 [[ 9.95855546e-01 -1.01220173e-02 -9.03840457e-02 -1.47104908e+01] [ 8.30897353e-03 9.99757103e-01 -2.04131303e-02 -8.60043214e-02] [ 9.05687137e-02 1.95775304e-02 9.95697760e-01 7.03337390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68255784400003 meters Centerline goodness : 0.116514 with order 2 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.09, Z:0.70 [[ 9.95861737e-01 -9.91229527e-03 -9.03390711e-02 -1.47105976e+01] [ 8.15379402e-03 9.99770436e-01 -1.98138887e-02 -8.92199719e-02] [ 9.05147336e-02 1.89952875e-02 9.95713946e-01 7.03366866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74255784400003 meters Centerline goodness : 0.154343 with order 1 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.09, Z:0.70 [[ 9.95873341e-01 -9.73524729e-03 -9.02303324e-02 -1.47107732e+01] [ 8.00710389e-03 9.99777895e-01 -1.94948160e-02 -9.05386324e-02] [ 9.04000786e-02 1.86918839e-02 9.95730104e-01 7.03202651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80255784400003 meters Centerline goodness : 0.133207 with order 3 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.09, Z:0.70 [[ 9.95905527e-01 -9.45724339e-03 -8.99040724e-02 -1.47119508e+01] [ 7.78945078e-03 9.99791345e-01 -1.88836052e-02 -9.35089089e-02] [ 9.00639003e-02 1.81059834e-02 9.95771393e-01 7.03624766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.862557844 meters Centerline goodness : 0.132585 with order 3 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.10, Z:0.70 [[ 9.95930436e-01 -9.60166406e-03 -8.96123557e-02 -1.47125909e+01] [ 7.98449278e-03 9.99799056e-01 -1.83873671e-02 -9.74663291e-02] [ 8.97708980e-02 1.75970293e-02 9.95806974e-01 7.03581917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.922557844 meters Centerline goodness : 0.145394 with order 3 Centerline is valid? [False, False] Translation: X:-14.71, Y:-0.10, Z:0.70 [[ 9.95964914e-01 -9.71855677e-03 -8.92156905e-02 -1.47135408e+01] [ 8.17162973e-03 9.99810160e-01 -1.76880915e-02 -1.02113426e-01] [ 8.93706565e-02 1.68876809e-02 9.95855257e-01 7.03611108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.982557844 meters Centerline goodness : 0.123692 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-0.11, Z:0.70 [[ 9.95935739e-01 -5.51240047e-03 -8.98978176e-02 -1.47328540e+01] [ 3.63850041e-03 9.99772952e-01 -2.09953517e-02 -1.11979201e-01] [ 8.99931414e-02 2.05829279e-02 9.95729671e-01 7.00274355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.042557844 meters Centerline goodness : 0.167959 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-0.11, Z:0.70 [[ 9.95887075e-01 -5.28911682e-03 -9.04486553e-02 -1.47301544e+01] [ 3.44707160e-03 9.99783711e-01 -2.05097443e-02 -1.14412409e-01] [ 9.05375706e-02 2.01136063e-02 9.95689907e-01 6.98502597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.102557844 meters Centerline goodness : 0.160048 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-0.12, Z:0.70 [[ 9.95887502e-01 -5.18264391e-03 -9.04501170e-02 -1.47300176e+01] [ 3.37697764e-03 9.99792176e-01 -2.01047502e-02 -1.17272957e-01] [ 9.05355151e-02 1.97166214e-02 9.95698034e-01 6.98298038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.162557844 meters Centerline goodness : 0.136284 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-0.12, Z:0.70 [[ 9.95925342e-01 -4.63414188e-03 -9.00624097e-02 -1.47311473e+01] [ 2.95721771e-03 9.99819940e-01 -1.87441066e-02 -1.24078629e-01] [ 9.01330559e-02 1.84013966e-02 9.95759720e-01 6.98418544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.222557844 meters Centerline goodness : 0.129270 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-0.13, Z:0.70 [[ 9.95902672e-01 -8.62312834e-03 -9.00194936e-02 -1.47308931e+01] [ 6.68100755e-03 9.99738860e-01 -2.18535247e-02 -1.28702429e-01] [ 9.01844317e-02 2.11625627e-02 9.95700213e-01 6.98020876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.282557844 meters Centerline goodness : 0.134329 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-0.14, Z:0.70 [[ 9.95927252e-01 -8.19722338e-03 -8.97870476e-02 -1.47317213e+01] [ 6.36918196e-03 9.99766945e-01 -2.06273749e-02 -1.35734486e-01] [ 8.99352095e-02 1.99714948e-02 9.95747356e-01 6.98342559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.342557844 meters Centerline goodness : 0.132974 with order 3 Centerline is valid? [False, False] Translation: X:-14.74, Y:-0.15, Z:0.70 [[ 9.96051264e-01 -8.93937281e-03 -8.83287398e-02 -1.47351774e+01] [ 7.19515480e-03 9.99773176e-01 -2.00455947e-02 -1.48261960e-01] [ 8.84878997e-02 1.93309010e-02 9.95889656e-01 6.98219634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.402557844 meters Centerline goodness : 0.221728 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-0.16, Z:0.70 [[ 9.96001486e-01 -8.43687784e-03 -8.89373857e-02 -1.47333096e+01] [ 6.78631286e-03 9.99799390e-01 -1.88448042e-02 -1.55354935e-01] [ 8.90785353e-02 1.81658961e-02 9.95858933e-01 6.97827780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.462557844 meters Centerline goodness : 0.137871 with order 3 Centerline is valid? [False, False] Translation: X:-14.73, Y:-0.17, Z:0.70 [[ 9.95971164e-01 -7.76039172e-03 -8.93376509e-02 -1.47325921e+01] [ 6.23385468e-03 9.99829981e-01 -1.73536328e-02 -1.66703893e-01] [ 8.94571328e-02 1.67268000e-02 9.95850207e-01 6.98179984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.522557844 meters Centerline goodness : 0.137215 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.18, Z:0.69 [[ 9.96241770e-01 -1.83686523e-04 -8.66158341e-02 -1.47519128e+01] [-1.33572548e-03 9.99846257e-01 -1.74836832e-02 -1.77951957e-01] [ 8.66057290e-02 1.75336705e-02 9.96088359e-01 6.94544681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.582557844 meters Centerline goodness : 0.133914 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.18, Z:0.69 [[ 9.96217411e-01 1.32779103e-04 -8.68956360e-02 -1.47504493e+01] [-1.61132658e-03 9.99855120e-01 -1.69452897e-02 -1.80306353e-01] [ 8.68807965e-02 1.70212099e-02 9.96073293e-01 6.93494759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.642557844 meters Centerline goodness : 0.186055 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.18, Z:0.69 [[ 9.96203563e-01 1.22464744e-04 -8.70542749e-02 -1.47498634e+01] [-1.60690692e-03 9.99854503e-01 -1.69820434e-02 -1.80292284e-01] [ 8.70395291e-02 1.70574602e-02 9.96058815e-01 6.93249984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.702557844 meters Centerline goodness : 0.161187 with order 1 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.18, Z:0.69 [[ 9.96245049e-01 2.72996902e-04 -8.65778747e-02 -1.47516214e+01] [-1.73765864e-03 9.99856647e-01 -1.68423637e-02 -1.80557813e-01] [ 8.65608656e-02 1.69295642e-02 9.96102709e-01 6.93947492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.762557844 meters Centerline goodness : 0.110804 with order 1 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.18, Z:0.69 [[ 9.96317265e-01 2.05656464e-04 -8.57430165e-02 -1.47543716e+01] [-1.62622794e-03 9.99862572e-01 -1.64982622e-02 -1.83304514e-01] [ 8.57278401e-02 1.65769412e-02 9.96180678e-01 6.94823394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.822557844 meters Centerline goodness : 0.158966 with order 1 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.18, Z:0.69 [[ 9.96266443e-01 1.51091700e-04 -8.63316410e-02 -1.47524015e+01] [-1.56203629e-03 9.99866317e-01 -1.62759890e-02 -1.84851137e-01] [ 8.63176408e-02 1.63500748e-02 9.96133495e-01 6.94124732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.882557844 meters Centerline goodness : 0.159262 with order 1 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.19, Z:0.69 [[ 9.96266261e-01 2.76413811e-04 -8.63334250e-02 -1.47528602e+01] [-1.65699087e-03 9.99871896e-01 -1.59199719e-02 -1.86720771e-01] [ 8.63179649e-02 1.60035846e-02 9.96139094e-01 6.94790150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.942557844 meters Centerline goodness : 0.200455 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.19, Z:0.70 [[ 9.96289939e-01 3.89051802e-04 -8.60593172e-02 -1.47538467e+01] [-1.76984196e-03 9.99870922e-01 -1.59689177e-02 -1.86013049e-01] [ 8.60419961e-02 1.60619834e-02 9.96162029e-01 6.95210345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.002557844 meters Centerline goodness : 0.155130 with order 1 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.18, Z:0.69 [[ 9.96269947e-01 4.67672848e-03 -8.61644984e-02 -1.47533062e+01] [-5.76307997e-03 9.99906962e-01 -1.23634448e-02 -1.83540745e-01] [ 8.60986613e-02 1.28139013e-02 9.96204208e-01 6.94923083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.062557844 meters Centerline goodness : 0.118585 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.17, Z:0.69 [[ 9.96180540e-01 7.87476023e-03 -8.69616049e-02 -1.47502129e+01] [-8.85928133e-03 9.99900897e-01 -1.09411946e-02 -1.73741981e-01] [ 8.68668275e-02 1.16698224e-02 9.96151580e-01 6.94318795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.122557844 meters Centerline goodness : 0.133699 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.17, Z:0.69 [[ 9.96155050e-01 8.59643268e-03 -8.71849645e-02 -1.47492655e+01] [-9.59041781e-03 9.99893634e-01 -1.09884179e-02 -1.68610968e-01] [ 8.70812297e-02 1.17823083e-02 9.96131536e-01 6.93906785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18255784400003 meters Centerline goodness : 0.138935 with order 1 Centerline is valid? [False, False] Translation: X:-14.74, Y:-0.16, Z:0.69 [[ 9.96032576e-01 1.09881331e-02 -8.83083679e-02 -1.47439536e+01] [-1.18819958e-02 9.99883296e-01 -9.60276092e-03 -1.61438225e-01] [ 8.81925455e-02 1.06139424e-02 9.96046896e-01 6.91399201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24255784400003 meters Centerline goodness : 0.136950 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.16, Z:0.69 [[ 9.96073114e-01 1.06736204e-02 -8.78887093e-02 -1.47450415e+01] [-1.16167600e-02 9.99880227e-01 -1.02265740e-02 -1.58236164e-01] [ 8.77690280e-02 1.12073974e-02 9.96077804e-01 6.91203022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30255784400003 meters Centerline goodness : 0.219996 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.16, Z:0.69 [[ 9.96083011e-01 1.03532187e-02 -8.78148452e-02 -1.47456606e+01] [-1.13285015e-02 9.99879486e-01 -1.06150271e-02 -1.56837607e-01] [ 8.76943625e-02 1.15682587e-02 9.96080255e-01 6.91590970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.362557844 meters Centerline goodness : 0.085363 with order 2 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.16, Z:0.69 [[ 9.96071862e-01 1.02270343e-02 -8.79559762e-02 -1.47450615e+01] [-1.12154366e-02 9.99879312e-01 -1.07506147e-02 -1.56467639e-01] [ 8.78354140e-02 1.16948494e-02 9.96066348e-01 6.91256542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.422557844 meters Centerline goodness : 0.150255 with order 1 Centerline is valid? [False, False] Translation: X:-14.74, Y:-0.15, Z:0.69 [[ 9.96035957e-01 9.65959480e-03 -8.84254750e-02 -1.47433673e+01] [-1.07533302e-02 9.99871358e-01 -1.19009975e-02 -1.51532144e-01] [ 8.82991409e-02 1.28046897e-02 9.96011698e-01 6.90601073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.482557844 meters Centerline goodness : 0.125845 with order 3 Centerline is valid? [False, False] Translation: X:-14.74, Y:-0.15, Z:0.69 [[ 9.96001084e-01 1.37252332e-02 -8.82805718e-02 -1.47440098e+01] [-1.45428802e-02 9.99857044e-01 -8.62537832e-03 -1.47605675e-01] [ 8.81495662e-02 9.87473993e-03 9.96058303e-01 6.91117646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.542557844 meters Centerline goodness : 0.140606 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.14, Z:0.69 [[ 9.96063900e-01 1.34182294e-02 -8.76165459e-02 -1.47456600e+01] [-1.43135867e-02 9.99851481e-01 -9.59876193e-03 -1.41617247e-01] [ 8.74747349e-02 1.08150873e-02 9.96108029e-01 6.90821777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.602557844 meters Centerline goodness : 0.224416 with order 2 Centerline is valid? [False, False] Translation: X:-14.70, Y:-0.13, Z:0.69 [[ 9.96227013e-01 1.32177141e-02 -8.57731380e-02 -1.47012997e+01] [-1.42847364e-02 9.99827887e-01 -1.18382186e-02 -1.26709836e-01] [ 8.56019011e-02 1.30187998e-02 9.96244360e-01 6.92482999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.662557844 meters Centerline goodness : 0.161438 with order 3 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.12, Z:0.69 [[ 9.96044570e-01 1.14492654e-02 -8.81142958e-02 -1.47492223e+01] [-1.25218012e-02 9.99853975e-01 -1.16289704e-02 -1.23785501e-01] [ 8.79682858e-02 1.26863225e-02 9.96042488e-01 6.89702263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.722557844 meters Centerline goodness : 0.131038 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.12, Z:0.69 [[ 9.96220977e-01 2.13280374e-03 -8.68286653e-02 -1.47716705e+01] [-3.13401721e-03 9.99930150e-01 -1.13962240e-02 -1.15898769e-01] [ 8.67982944e-02 1.16252800e-02 9.96158074e-01 6.87125173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.782557844 meters Centerline goodness : 0.159520 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.11, Z:0.69 [[ 9.96148568e-01 7.72102789e-04 -8.76780189e-02 -1.47689421e+01] [-1.86168729e-03 9.99922052e-01 -1.23460195e-02 -1.14936924e-01] [ 8.76616522e-02 1.24616986e-02 9.96072357e-01 6.86597709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.842557844 meters SLAMing on 405.902557844 meters Centerline goodness : 0.132005 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.11, Z:0.69 [[ 9.96203799e-01 8.91869593e-04 -8.70470818e-02 -1.47710258e+01] [-1.98236066e-03 9.99920631e-01 -1.24419612e-02 -1.13300103e-01] [ 8.70290763e-02 1.25672877e-02 9.96126500e-01 6.87200623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.962557844 meters Centerline goodness : 0.126951 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.11, Z:0.69 [[ 9.96214795e-01 1.10947384e-03 -8.69186481e-02 -1.47715638e+01] [-2.24353270e-03 9.99913618e-01 -1.29507590e-02 -1.09574967e-01] [ 8.68967714e-02 1.30967426e-02 9.96131230e-01 6.87337054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.022557844 meters Centerline goodness : 0.153804 with order 1 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.11, Z:0.69 [[ 9.96184964e-01 1.09045659e-03 -8.72601189e-02 -1.47702593e+01] [-2.27715199e-03 9.99906263e-01 -1.35011298e-02 -1.06373841e-01] [ 8.72372170e-02 1.36483271e-02 9.96094067e-01 6.86591502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.082557844 meters Centerline goodness : 0.130603 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.11, Z:0.69 [[ 9.96138663e-01 7.79235476e-04 -8.77904132e-02 -1.47688411e+01] [-1.99435284e-03 9.99903417e-01 -1.37542553e-02 -1.06164319e-01] [ 8.77712163e-02 1.38762306e-02 9.96044007e-01 6.86500098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.142557844 meters Centerline goodness : 0.233851 with order 2 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.11, Z:0.69 [[ 9.96136238e-01 3.86494832e-04 -8.78205283e-02 -1.47691281e+01] [-1.59593000e-03 9.99904851e-01 -1.37018722e-02 -1.07614529e-01] [ 8.78068766e-02 1.37890868e-02 9.96042074e-01 6.87085292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.202557844 meters Centerline goodness : 0.135479 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.11, Z:0.69 [[ 9.96145610e-01 6.47085333e-05 -8.77149855e-02 -1.47695267e+01] [-1.25953249e-03 9.99907179e-01 -1.35663846e-02 -1.09352705e-01] [ 8.77059658e-02 1.36245744e-02 9.96053229e-01 6.87351947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.262557844 meters Centerline goodness : 0.146053 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.11, Z:0.69 [[ 9.96229250e-01 -3.05405164e-03 -8.67061363e-02 -1.47742954e+01] [ 1.67036138e-03 9.99870173e-01 -1.60264583e-02 -1.12429827e-01] [ 8.67438251e-02 1.58211960e-02 9.96105014e-01 6.89593850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.322557844 meters Centerline goodness : 0.150164 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.11, Z:0.69 [[ 9.96125698e-01 -3.47631270e-03 -8.78721127e-02 -1.47706331e+01] [ 2.08037323e-03 9.99870265e-01 -1.59726268e-02 -1.14728959e-01] [ 8.79162385e-02 1.57279372e-02 9.96003698e-01 6.88868873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.382557844 meters Centerline goodness : 0.212759 with order 2 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.12, Z:0.69 [[ 9.96090398e-01 -3.41655517e-03 -8.82736960e-02 -1.47696573e+01] [ 2.02700962e-03 9.99872704e-01 -1.58261804e-02 -1.15666229e-01] [ 8.83165301e-02 1.55853747e-02 9.95970525e-01 6.89000304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.442557844 meters Centerline goodness : 0.128587 with order 3 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.11, Z:0.69 [[ 9.96188668e-01 -1.40954804e-03 -8.72132524e-02 -1.47751712e+01] [ 1.81363001e-04 9.99900730e-01 -1.40888720e-02 -1.14903796e-01] [ 8.72244537e-02 1.40193573e-02 9.96090032e-01 6.91525043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.502557844 meters Centerline goodness : 0.220922 with order 2 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.11, Z:0.69 [[ 9.96217478e-01 -1.43011590e-03 -8.68832031e-02 -1.47757204e+01] [ 1.82872315e-04 9.99896849e-01 -1.43616688e-02 -1.13308138e-01] [ 8.68947799e-02 1.42914569e-02 9.96114979e-01 6.91054219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.562557844 meters Centerline goodness : 0.125544 with order 3 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.11, Z:0.69 [[ 9.96214635e-01 -1.38187600e-03 -8.69165812e-02 -1.47755335e+01] [ 1.45888895e-04 9.99898807e-01 -1.42251282e-02 -1.14063267e-01] [ 8.69274432e-02 1.41586008e-02 9.96114026e-01 6.90887998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.622557844 meters Centerline goodness : 0.133984 with order 3 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.12, Z:0.69 [[ 9.96223749e-01 -1.32183875e-03 -8.68129874e-02 -1.47760901e+01] [ 1.28691961e-04 9.99905483e-01 -1.37480331e-02 -1.16620271e-01] [ 8.68229548e-02 1.36849450e-02 9.96129759e-01 6.91261810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68255784400003 meters Centerline goodness : 0.243296 with order 3 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.12, Z:0.69 [[ 9.96195988e-01 -5.35121106e-03 -8.69765389e-02 -1.47753310e+01] [ 3.90075415e-03 9.99850625e-01 -1.68378289e-02 -1.20910803e-01] [ 8.70536495e-02 1.64345035e-02 9.96068055e-01 6.90810879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74255784400003 meters Centerline goodness : 0.162350 with order 1 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.13, Z:0.69 [[ 9.96314955e-01 2.22204101e-03 -8.57413098e-02 -1.47939310e+01] [-3.69121862e-03 9.99849011e-01 -1.69802725e-02 -1.32634430e-01] [ 8.56906329e-02 1.72341894e-02 9.96172725e-01 6.87139703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80255784400003 meters Centerline goodness : 0.131641 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.69 [[ 9.96401723e-01 -6.11045493e-03 -8.45356112e-02 -1.47740762e+01] [ 4.75657442e-03 9.99857333e-01 -1.62076573e-02 -1.28526206e-01] [ 8.46225870e-02 1.57472378e-02 9.96288634e-01 6.89459130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.862557844 meters Centerline goodness : 0.219669 with order 3 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.13, Z:0.69 [[ 9.96488566e-01 -6.59644291e-03 -8.34687021e-02 -1.47770586e+01] [ 5.27575940e-03 9.99857541e-01 -1.60331865e-02 -1.29554910e-01] [ 8.35625732e-02 1.55365262e-02 9.96381409e-01 6.89011928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.922557844 meters Centerline goodness : 0.183199 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.69 [[ 9.96407708e-01 -7.16958783e-03 -8.43817279e-02 -1.47744295e+01] [ 5.85805199e-03 9.99858324e-01 -1.57802399e-02 -1.32033924e-01] [ 8.44829108e-02 1.52292401e-02 9.96308541e-01 6.87728942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.982557844 meters SLAMing on 407.042557844 meters Centerline goodness : 0.129108 with order 3 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.13, Z:0.69 [[ 9.96426729e-01 -7.91254482e-03 -8.40902246e-02 -1.47753072e+01] [ 6.61971863e-03 9.99855743e-01 -1.56419941e-02 -1.33389904e-01] [ 8.42018620e-02 1.50294474e-02 9.96335366e-01 6.86612197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.102557844 meters Centerline goodness : 0.227443 with order 3 Centerline is valid? [False, False] Translation: X:-14.78, Y:-0.13, Z:0.69 [[ 9.96460668e-01 -8.13862369e-03 -8.36654102e-02 -1.47758025e+01] [ 6.85570929e-03 9.99854657e-01 -1.56097500e-02 -1.32716410e-01] [ 8.37802919e-02 1.49809162e-02 9.96371635e-01 6.85189772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.162557844 meters Centerline goodness : 0.162385 with order 3 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.14, Z:0.68 [[ 9.96401444e-01 2.06776501e-04 -8.47591830e-02 -1.47908952e+01] [-1.75897364e-03 9.99832113e-01 -1.82387564e-02 -1.36332358e-01] [ 8.47411817e-02 1.83222124e-02 9.96234525e-01 6.83158160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.222557844 meters Centerline goodness : 0.211980 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.69 [[ 9.96434693e-01 -8.31795060e-03 -8.39566269e-02 -1.47715137e+01] [ 6.87912968e-03 9.99824727e-01 -1.74124339e-02 -1.32861338e-01] [ 8.40867474e-02 1.67728047e-02 9.96317265e-01 6.85688277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.282557844 meters Centerline goodness : 0.125141 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.69 [[ 9.96493344e-01 -8.59077384e-03 -8.32298852e-02 -1.47733599e+01] [ 7.18450663e-03 9.99826583e-01 -1.71809804e-02 -1.33983633e-01] [ 8.33630497e-02 1.65227669e-02 9.96382256e-01 6.85683484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.342557844 meters Centerline goodness : 0.150435 with order 2 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.69 [[ 9.96435266e-01 -8.84118011e-03 -8.38963339e-02 -1.47712561e+01] [ 7.42638665e-03 9.99825164e-01 -1.71607118e-02 -1.34108944e-01] [ 8.40333868e-02 1.64764918e-02 9.96326711e-01 6.85120626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.402557844 meters Centerline goodness : 0.182979 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.68 [[ 9.96409574e-01 -8.80525954e-03 -8.42046758e-02 -1.47698615e+01] [ 7.39773680e-03 9.99827902e-01 -1.70129317e-02 -1.33866116e-01] [ 8.43399876e-02 1.63289240e-02 9.96303233e-01 6.84267423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.462557844 meters Centerline goodness : 0.209398 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.68 [[ 9.96424656e-01 -9.00250755e-03 -8.40051215e-02 -1.47704269e+01] [ 7.57106672e-03 9.99820934e-01 -1.73429659e-02 -1.31937322e-01] [ 8.41462093e-02 1.66449505e-02 9.96314389e-01 6.84352845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.522557844 meters Centerline goodness : 0.233131 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.68 [[ 9.96370455e-01 -5.39466525e-03 -8.49518312e-02 -1.47679934e+01] [ 4.19797603e-03 9.99889523e-01 -1.42590213e-02 -1.28728809e-01] [ 8.50193686e-02 1.38506417e-02 9.96283025e-01 6.84228565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.582557844 meters Centerline goodness : 0.151939 with order 2 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.68 [[ 9.96367632e-01 -5.66486285e-03 -8.49673579e-02 -1.47680369e+01] [ 4.43255769e-03 9.99882346e-01 -1.46849258e-02 -1.26378412e-01] [ 8.50405492e-02 1.42549620e-02 9.96275515e-01 6.84385512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.642557844 meters Centerline goodness : 0.390348 with order 1 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.68 [[ 9.96436096e-01 -6.13522884e-03 -8.41276788e-02 -1.47705950e+01] [ 4.91970675e-03 9.99880606e-01 -1.46482460e-02 -1.26601129e-01] [ 8.42075047e-02 1.41821575e-02 9.96347310e-01 6.84912689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.702557844 meters Centerline goodness : 0.123338 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.69 [[ 9.96437913e-01 -6.83608696e-03 -8.40520820e-02 -1.47711812e+01] [ 5.61981062e-03 9.99876177e-01 -1.46986023e-02 -1.27516710e-01] [ 8.41421553e-02 1.41738878e-02 9.96352949e-01 6.85451809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.762557844 meters Centerline goodness : 0.155272 with order 2 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.68 [[ 9.96370395e-01 -7.03394542e-03 -8.48325415e-02 -1.47687714e+01] [ 5.84272030e-03 9.99880934e-01 -1.42821889e-02 -1.29086976e-01] [ 8.49229009e-02 1.37346974e-02 9.96292858e-01 6.84778928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.822557844 meters Centerline goodness : 0.134060 with order 3 Centerline is valid? [False, False] Translation: X:-14.77, Y:-0.13, Z:0.69 [[ 9.96431288e-01 -7.63832311e-03 -8.40615548e-02 -1.47708321e+01] [ 6.47061704e-03 9.99878879e-01 -1.41547784e-02 -1.30949481e-01] [ 8.41594920e-02 1.35603340e-02 9.96360024e-01 6.85014264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.882557844 meters Centerline goodness : 0.106525 with order 1 Centerline is valid? [False, False] Translation: X:-14.75, Y:-0.13, Z:0.69 [[ 9.96534229e-01 -1.48039365e-02 -8.18558106e-02 -1.47517874e+01] [ 1.38320367e-02 9.99827099e-01 -1.24276930e-02 -1.28463803e-01] [ 8.20256364e-02 1.12523889e-02 9.96566696e-01 6.88001185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.942557844 meters Centerline goodness : 0.238679 with order 3 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.13, Z:0.68 [[ 9.96199165e-01 -1.56509952e-02 -8.56870504e-02 -1.47930329e+01] [ 1.46488346e-02 9.99816897e-01 -1.23119263e-02 -1.27840286e-01] [ 8.58640548e-02 1.10099152e-02 9.96246027e-01 6.83587940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.002557844 meters Centerline goodness : 0.208212 with order 3 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.13, Z:0.68 [[ 9.96222110e-01 -1.55596080e-02 -8.54365580e-02 -1.47939385e+01] [ 1.45529686e-02 9.99817301e-01 -1.23925427e-02 -1.26470971e-01] [ 8.56137720e-02 1.11023695e-02 9.96266540e-01 6.83983447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.062557844 meters Centerline goodness : 0.241408 with order 3 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.13, Z:0.68 [[ 9.96266704e-01 -1.14885471e-02 -8.55609049e-02 -1.47940160e+01] [ 1.07868250e-02 9.99904326e-01 -8.65925118e-03 -1.25627216e-01] [ 8.56522012e-02 7.70399313e-03 9.96295312e-01 6.84257109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.122557844 meters Centerline goodness : 0.240205 with order 3 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.12, Z:0.68 [[ 9.96253069e-01 -1.18411466e-02 -8.56715250e-02 -1.47934724e+01] [ 1.11062963e-02 9.99897377e-01 -9.04909410e-03 -1.24127370e-01] [ 8.57698848e-02 8.06369442e-03 9.96282341e-01 6.83960548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18255784400003 meters Centerline goodness : 0.237447 with order 3 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.12, Z:0.68 [[ 9.96285680e-01 -8.66441139e-03 -8.56724630e-02 -1.47932710e+01] [ 8.17659201e-03 9.99948310e-01 -6.04327187e-03 -1.21996051e-01] [ 8.57203959e-02 5.32031645e-03 9.96305028e-01 6.83603985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24255784400003 meters Centerline goodness : 0.228504 with order 3 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.12, Z:0.68 [[ 9.96275577e-01 -8.95306067e-03 -8.57602367e-02 -1.47930700e+01] [ 8.40882482e-03 9.99942165e-01 -6.70515954e-03 -1.18511349e-01] [ 8.58153084e-02 5.95904388e-03 9.96293241e-01 6.83665027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30255784400003 meters Centerline goodness : 0.096954 with order 1 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.11, Z:0.68 [[ 9.96276227e-01 -9.25033557e-03 -8.57211247e-02 -1.47932276e+01] [ 8.65733199e-03 9.99935973e-01 -7.28699321e-03 -1.14863302e-01] [ 8.57830434e-02 6.51774187e-03 9.96292522e-01 6.83761655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.362557844 meters Centerline goodness : 0.217320 with order 3 Centerline is valid? [False, False] Translation: X:-14.79, Y:-0.11, Z:0.68 [[ 9.96251445e-01 -1.01333171e-02 -8.59091011e-02 -1.47919402e+01] [ 9.47097168e-03 9.99922229e-01 -8.11392302e-03 -1.12182060e-01] [ 8.59846409e-02 7.26986487e-03 9.96269939e-01 6.82599520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.422557844 meters Centerline goodness : 0.098246 with order 1 Centerline is valid? [False, False] Translation: X:-14.84, Y:-0.11, Z:0.68 [[ 9.96005011e-01 -1.07653289e-02 -8.86460698e-02 -1.48374850e+01] [ 1.01218220e-02 9.99919083e-01 -7.70561319e-03 -1.09692597e-01] [ 8.87218503e-02 6.77756961e-03 9.96033382e-01 6.79931999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.482557844 meters Centerline goodness : 0.103321 with order 1 Centerline is valid? [False, False] Translation: X:-14.84, Y:-0.11, Z:0.68 [[ 9.95962793e-01 -1.11047839e-02 -8.90774824e-02 -1.48359253e+01] [ 1.04336848e-02 9.99913597e-01 -7.99598964e-03 -1.08311468e-01] [ 8.91585796e-02 7.03430181e-03 9.95992604e-01 6.79231320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.542557844 meters Centerline goodness : 0.085861 with order 1 Centerline is valid? [False, False] Translation: X:-14.84, Y:-0.11, Z:0.68 [[ 9.95984342e-01 -1.22234525e-02 -8.86892169e-02 -1.48369866e+01] [ 1.14880925e-02 9.99895311e-01 -8.79715206e-03 -1.07240235e-01] [ 8.87874638e-02 7.74295578e-03 9.96020498e-01 6.79215048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.602557844 meters Centerline goodness : 0.091867 with order 1 Centerline is valid? [False, False] Translation: X:-14.84, Y:-0.11, Z:0.68 [[ 9.95975387e-01 -1.23229495e-02 -8.87759711e-02 -1.48360435e+01] [ 1.15665843e-02 9.99892337e-01 -9.02935295e-03 -1.05585773e-01] [ 8.88776815e-02 7.96617855e-03 9.96010692e-01 6.78257148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.662557844 meters Centerline goodness : 0.096481 with order 1 Centerline is valid? [False, False] Translation: X:-14.82, Y:-0.11, Z:0.68 [[ 9.96129330e-01 -3.94727550e-03 -8.78110241e-02 -1.48172235e+01] [ 3.04094043e-03 9.99940744e-01 -1.04528065e-02 -1.07517532e-01] [ 8.78470808e-02 1.01453191e-02 9.96082307e-01 6.81122907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.722557844 meters Centerline goodness : 0.096097 with order 1 Centerline is valid? [False, False] Translation: X:-14.82, Y:-0.10, Z:0.68 [[ 9.96216015e-01 -1.60756783e-03 -8.68968821e-02 -1.48220494e+01] [ 8.45269321e-04 9.99960847e-01 -8.80853300e-03 -1.03156892e-01] [ 8.69076401e-02 8.70175037e-03 9.96178368e-01 6.83535543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.782557844 meters Centerline goodness : 0.214947 with order 3 Centerline is valid? [False, False] Translation: X:-14.82, Y:-0.10, Z:0.68 [[ 9.96241697e-01 2.21892934e-03 -8.65884370e-02 -1.48225694e+01] [-2.75707481e-03 9.99977619e-01 -6.09588566e-03 -9.75883981e-02] [ 8.65729728e-02 6.31170628e-03 9.96225518e-01 6.83341406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.842557844 meters Centerline goodness : 0.093956 with order 2 Centerline is valid? [False, False] Translation: X:-14.87, Y:-0.09, Z:0.68 [[ 9.95953100e-01 3.18186792e-03 -8.98181380e-02 -1.48692287e+01] [-3.66745231e-03 9.99979537e-01 -5.24178857e-03 -9.08702640e-02] [ 8.97996214e-02 5.54997931e-03 9.95944389e-01 6.81711480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.902557844 meters Centerline goodness : 0.095693 with order 1 Centerline is valid? [False, False] Translation: X:-14.87, Y:-0.09, Z:0.68 [[ 9.95934919e-01 2.87750751e-03 -9.00297561e-02 -1.48684201e+01] [-3.41414981e-03 9.99977309e-01 -5.80728882e-03 -8.78617222e-02] [ 9.00110027e-02 6.09105680e-03 9.95922145e-01 6.81363282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.962557844 meters Centerline goodness : 0.106737 with order 1 Centerline is valid? [False, False] Translation: X:-14.87, Y:-0.09, Z:0.68 [[ 9.95911740e-01 2.47268245e-03 -9.02977914e-02 -1.48674234e+01] [-3.02974902e-03 9.99977214e-01 -6.03266707e-03 -8.78059517e-02] [ 9.02808170e-02 6.28158360e-03 9.95896539e-01 6.80790672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.022557844 meters SLAMing on 409.082557844 meters Centerline goodness : 0.088426 with order 1 Centerline is valid? [False, False] Translation: X:-14.95, Y:-0.08, Z:0.67 [[ 9.95951316e-01 -1.35426516e-02 -8.88682864e-02 -1.49485496e+01] [ 1.32809190e-02 9.99905553e-01 -3.53583735e-03 -7.73433179e-02] [ 8.89077776e-02 2.34126935e-03 9.96037111e-01 6.71758535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.142557844 meters Centerline goodness : 0.128511 with order 2 Centerline is valid? [False, False] Translation: X:-14.95, Y:-0.08, Z:0.67 [[ 9.95915539e-01 -1.37352701e-02 -8.92388967e-02 -1.49471304e+01] [ 1.34817855e-02 9.99903190e-01 -3.44267674e-03 -7.81484444e-02] [ 8.92775436e-02 2.22551560e-03 9.96004301e-01 6.70952679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.202557844 meters Centerline goodness : 0.165764 with order 1 Centerline is valid? [False, False] Translation: X:-14.95, Y:-0.08, Z:0.67 [[ 9.95884063e-01 -1.39352065e-02 -8.95586023e-02 -1.49462077e+01] [ 1.36923355e-02 9.99900725e-01 -3.32569323e-03 -7.94883261e-02] [ 8.95960556e-02 2.08573846e-03 9.95976002e-01 6.70708819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.262557844 meters Centerline goodness : 0.236296 with order 3 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.08, Z:0.67 [[ 9.95961486e-01 -5.98491806e-03 -8.95817969e-02 -1.49665832e+01] [ 5.61691881e-03 9.99974722e-01 -4.35950143e-03 -8.25072807e-02] [ 8.96056237e-02 3.83872184e-03 9.95969927e-01 6.67709372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.322557844 meters Centerline goodness : 0.160062 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.08, Z:0.67 [[ 9.96014581e-01 -1.95982917e-03 -8.91690200e-02 -1.49681177e+01] [ 1.87088110e-03 9.99997666e-01 -1.08109001e-03 -7.91589323e-02] [ 8.91709306e-02 9.09956780e-04 9.96015922e-01 6.68322510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.382557844 meters Centerline goodness : 0.166594 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.07, Z:0.67 [[ 9.96026779e-01 -2.25894308e-03 -8.90255778e-02 -1.49686415e+01] [ 2.08665576e-03 9.99995766e-01 -2.02827667e-03 -7.42543534e-02] [ 8.90297827e-02 1.83445214e-03 9.96027275e-01 6.68684238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.442557844 meters Centerline goodness : 0.234794 with order 3 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.07, Z:0.67 [[ 9.96062600e-01 -2.74382770e-03 -8.86102049e-02 -1.49698333e+01] [ 2.46720733e-03 9.99991736e-01 -3.23114113e-03 -6.84843971e-02] [ 8.86183384e-02 2.99979908e-03 9.96061138e-01 6.68980603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.502557844 meters Centerline goodness : 0.160507 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.06, Z:0.67 [[ 9.96025225e-01 -7.72711390e-04 -8.90682539e-02 -1.49666038e+01] [ 5.94198420e-04 9.99997762e-01 -2.03072405e-03 -6.03797427e-02] [ 8.90696236e-02 1.96972816e-03 9.96023455e-01 6.66893151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.562557844 meters Centerline goodness : 0.162763 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.05, Z:0.67 [[ 9.96023434e-01 -1.56583220e-03 -8.90778690e-02 -1.49660834e+01] [ 1.28340824e-03 9.99993967e-01 -3.22771607e-03 -5.49293945e-02] [ 8.90823856e-02 3.10055757e-03 9.96019435e-01 6.66228263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.622557844 meters Centerline goodness : 0.087944 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.05, Z:0.67 [[ 9.96084784e-01 -2.07740359e-03 -8.83786641e-02 -1.49678042e+01] [ 1.73965023e-03 9.99990888e-01 -3.89851488e-03 -5.21826503e-02] [ 8.83859576e-02 3.72950338e-03 9.96079321e-01 6.66100373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68255784400003 meters Centerline goodness : 0.236307 with order 3 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.05, Z:0.66 [[ 9.96052957e-01 -2.63117856e-03 -8.87219493e-02 -1.49658958e+01] [ 2.24812115e-03 9.99987717e-01 -4.41715418e-03 -4.95082969e-02] [ 8.87324819e-02 4.20026179e-03 9.96046638e-01 6.64729210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74255784400003 meters Centerline goodness : 0.155553 with order 1 Centerline is valid? [False, False] Translation: X:-14.96, Y:-0.05, Z:0.66 [[ 9.95993588e-01 -2.91926060e-03 -8.93770179e-02 -1.49634585e+01] [ 2.48807943e-03 9.99984726e-01 -4.93532744e-03 -4.68724145e-02] [ 8.93900602e-02 4.69317736e-03 9.95985638e-01 6.63768263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80255784400003 meters Centerline goodness : 0.168815 with order 3 Centerline is valid? [False, False] Translation: X:-14.96, Y:-0.04, Z:0.66 [[ 9.95954077e-01 -3.14549585e-03 -8.98085910e-02 -1.49617945e+01] [ 2.66480942e-03 9.99981479e-01 -5.47174585e-03 -4.39159428e-02] [ 8.98241391e-02 5.21028480e-03 9.95944013e-01 6.63101137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.862557844 meters Centerline goodness : 0.156786 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.04, Z:0.66 [[ 9.96054380e-01 -1.61171962e-04 -8.87448374e-02 -1.49652566e+01] [-1.17400496e-04 9.99995083e-01 -3.13379860e-03 -3.92335659e-02] [ 8.87449061e-02 3.13185251e-03 9.96049463e-01 6.63820924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.922557844 meters Centerline goodness : 0.154085 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.04, Z:0.66 [[ 9.96049050e-01 -4.61520951e-04 -8.88035878e-02 -1.49652655e+01] [ 1.30975349e-04 9.99993042e-01 -3.72800105e-03 -3.67053173e-02] [ 8.88046905e-02 3.70164082e-03 9.96042180e-01 6.64111485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.982557844 meters Centerline goodness : 0.157168 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.03, Z:0.67 [[ 9.96116645e-01 2.08618667e-03 -8.80186154e-02 -1.49685884e+01] [-2.23538310e-03 9.99996227e-01 -1.59652045e-03 -3.36426836e-02] [ 8.80149527e-02 1.78707592e-03 9.96117551e-01 6.65209471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.042557844 meters Centerline goodness : 0.161576 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.03, Z:0.67 [[ 9.96145239e-01 1.93807207e-03 -8.76978131e-02 -1.49695878e+01] [-2.11227717e-03 9.99995976e-01 -1.89366844e-03 -3.25247996e-02] [ 8.76937902e-02 2.07161089e-03 9.96145325e-01 6.65443464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.102557844 meters Centerline goodness : 0.158170 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.03, Z:0.67 [[ 9.96204823e-01 3.92150475e-03 -8.69515525e-02 -1.49739357e+01] [-3.97186014e-03 9.99992030e-01 -4.06119625e-04 -2.91197607e-02] [ 8.69492669e-02 7.49937735e-04 9.96212459e-01 6.67729431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.162557844 meters Centerline goodness : 0.165159 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.03, Z:0.67 [[ 9.96220771e-01 3.75832907e-03 -8.67758600e-02 -1.49747244e+01] [-3.83619093e-03 9.99992375e-01 -7.30533525e-04 -2.79021154e-02] [ 8.67724527e-02 1.06066144e-03 9.96227593e-01 6.68204689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.222557844 meters Centerline goodness : 0.166818 with order 1 Centerline is valid? [False, False] Translation: X:-14.98, Y:-0.03, Z:0.67 [[ 9.96281436e-01 3.68239255e-03 -8.60798500e-02 -1.49766981e+01] [-3.76436045e-03 9.99992603e-01 -7.89930788e-04 -2.79657122e-02] [ 8.60763044e-02 1.11102896e-03 9.96287928e-01 6.68349382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.282557844 meters Centerline goodness : 0.158900 with order 1 Centerline is valid? [False, False] Translation: X:-14.98, Y:-0.03, Z:0.67 [[ 9.96290803e-01 3.62353665e-03 -8.59738618e-02 -1.49766312e+01] [-3.68920886e-03 9.99993012e-01 -6.04992393e-04 -2.94741485e-02] [ 8.59710687e-02 9.19923890e-04 9.96297209e-01 6.67725771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.342557844 meters Centerline goodness : 0.238275 with order 3 Centerline is valid? [False, False] Translation: X:-14.98, Y:-0.03, Z:0.67 [[ 9.96262997e-01 3.69622433e-03 -8.62924064e-02 -1.49755289e+01] [-3.74102978e-03 9.99992938e-01 -3.57520587e-04 -3.08172424e-02] [ 8.62904756e-02 6.79006993e-04 9.96269789e-01 6.67253396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.402557844 meters Centerline goodness : 0.160242 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.03, Z:0.67 [[ 9.96222157e-01 3.86353732e-03 -8.67553274e-02 -1.49739774e+01] [-3.87168418e-03 9.99992502e-01 7.43560666e-05 -3.28533732e-02] [ 8.67549642e-02 2.61814068e-04 9.96229646e-01 6.66685232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.462557844 meters Centerline goodness : 0.168361 with order 3 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.03, Z:0.67 [[ 9.96226040e-01 4.05802490e-03 -8.67018414e-02 -1.49742184e+01] [-4.05214334e-03 9.99991760e-01 2.43832703e-04 -3.30420582e-02] [ 8.67021165e-02 1.08415802e-04 9.96234275e-01 6.66870509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.522557844 meters Centerline goodness : 0.154761 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.03, Z:0.67 [[ 9.96152525e-01 6.92122943e-03 -8.73627095e-02 -1.49711033e+01] [-6.71415878e-03 9.99973912e-01 2.66386711e-03 -3.15702577e-02] [ 8.73788675e-02 -2.06705084e-03 9.96173007e-01 6.65652129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.582557844 meters Centerline goodness : 0.226262 with order 3 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.03, Z:0.67 [[ 9.96194415e-01 7.21727177e-03 -8.68596503e-02 -1.49726046e+01] [-7.03187456e-03 9.99972299e-01 2.44023177e-03 -2.94942317e-02] [ 8.68748559e-02 -1.82015910e-03 9.96217570e-01 6.66073801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.642557844 meters Centerline goodness : 0.123542 with order 2 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.03, Z:0.67 [[ 9.96159769e-01 1.13812299e-02 -8.68111826e-02 -1.49732535e+01] [-1.09011622e-02 9.99922567e-01 6.00210007e-03 -2.74831501e-02] [ 8.68727719e-02 -5.03270783e-03 9.96206702e-01 6.66888349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.702557844 meters Centerline goodness : 0.162975 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.02, Z:0.67 [[ 9.96034315e-01 1.18287301e-02 -8.81800684e-02 -1.49687911e+01] [-1.13622848e-02 9.99918685e-01 5.78977412e-03 -2.30644707e-02] [ 8.82413837e-02 -4.76488665e-03 9.96087724e-01 6.65897491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.762557844 meters Centerline goodness : 0.169149 with order 1 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.02, Z:0.67 [[ 9.96040086e-01 1.16029138e-02 -8.81448822e-02 -1.49687295e+01] [-1.11953302e-02 9.99924238e-01 5.11699733e-03 -1.94070227e-02] [ 8.81975762e-02 -4.10992339e-03 9.96094522e-01 6.65781073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.822557844 meters Centerline goodness : 0.336079 with order 2 Centerline is valid? [False, False] Translation: X:-14.97, Y:-0.01, Z:0.67 [[ 9.96050568e-01 1.11355460e-02 -8.80866972e-02 -1.49687638e+01] [-1.08116680e-02 9.99932928e-01 4.15307990e-03 -1.47073246e-02] [ 8.81270359e-02 -3.18431347e-03 9.96104154e-01 6.65734205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.882557844 meters Centerline goodness : 0.334790 with order 2 Centerline is valid? [False, False] Translation: X:-14.99, Y:-0.01, Z:0.66 [[ 9.96044448e-01 2.80013801e-03 -8.88122551e-02 -1.49874966e+01] [-2.37011251e-03 9.99984955e-01 4.94704781e-03 -6.15352239e-03] [ 8.88247713e-02 -4.71698447e-03 9.96036099e-01 6.62276151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.942557844 meters Centerline goodness : 0.146651 with order 3 Centerline is valid? [False, False] Translation: X:-14.99, Y:-0.00, Z:0.66 [[ 9.96074811e-01 2.50923984e-03 -8.84797979e-02 -1.49887065e+01] [-2.12114702e-03 9.99987715e-01 4.47998197e-03 -3.90203315e-03] [ 8.84899523e-02 -4.27471854e-03 9.96067897e-01 6.62773001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.002557844 meters Centerline goodness : 0.101326 with order 2 Centerline is valid? [False, False] Translation: X:-14.99, Y:-0.00, Z:0.66 [[ 9.96093467e-01 2.21798579e-03 -8.82773234e-02 -1.49896293e+01] [-1.86733602e-03 9.99990037e-01 4.05452347e-03 -2.61418027e-03] [ 8.82854368e-02 -3.87384092e-03 9.96087684e-01 6.63296480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.062557844 meters Centerline goodness : 0.174530 with order 1 Centerline is valid? [False, False] Translation: X:-14.99, Y:-0.00, Z:0.66 [[ 9.96191188e-01 4.21036607e-03 -8.70941460e-02 -1.49945267e+01] [-3.72588240e-03 9.99976673e-01 5.72457116e-03 -4.60820316e-04] [ 8.71162170e-02 -5.37826480e-03 9.96183637e-01 6.64987243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.122557844 meters Centerline goodness : 0.120325 with order 2 Centerline is valid? [False, False] Translation: X:-15.00, Y:0.00, Z:0.67 [[ 9.96204596e-01 3.99591141e-03 -8.69507646e-02 -1.49951777e+01] [-3.54791427e-03 9.99979628e-01 5.30623865e-03 1.01912040e-03] [ 8.69701965e-02 -4.97760547e-03 9.96198478e-01 6.65399328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18255784400003 meters Centerline goodness : 0.281931 with order 3 Centerline is valid? [False, False] Translation: X:-15.00, Y:0.00, Z:0.67 [[ 9.96185243e-01 4.20728576e-03 -8.71622677e-02 -1.49954169e+01] [-3.75899919e-03 9.99978855e-01 5.30662282e-03 2.42678435e-03] [ 8.71827511e-02 -4.95873645e-03 9.96179993e-01 6.66461642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24255784400003 meters Centerline goodness : 0.167918 with order 1 Centerline is valid? [False, False] Translation: X:-14.99, Y:0.00, Z:0.67 [[ 9.96168615e-01 4.28346295e-03 -8.73483982e-02 -1.49947908e+01] [-3.80371977e-03 9.99976759e-01 5.65799899e-03 1.16567929e-04] [ 8.73706039e-02 -5.30407219e-03 9.96161756e-01 6.66159607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30255784400003 meters Centerline goodness : 0.163845 with order 3 Centerline is valid? [False, False] Translation: X:-15.02, Y:0.00, Z:0.66 [[ 9.96193682e-01 -4.75392964e-03 -8.70376243e-02 -1.50183258e+01] [ 5.31098507e-03 9.99966863e-01 6.16971869e-03 1.10601218e-03] [ 8.70054097e-02 -6.60849030e-03 9.96185920e-01 6.64717103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.362557844 meters Centerline goodness : 0.140853 with order 2 Centerline is valid? [False, False] Translation: X:-15.01, Y:-0.01, Z:0.66 [[ 9.96088798e-01 -6.69639932e-03 -8.81037186e-02 -1.50138993e+01] [ 7.20664232e-03 9.99959046e-01 5.47457722e-03 -7.91333843e-03] [ 8.80634505e-02 -6.08809702e-03 9.96096262e-01 6.62984528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.422557844 meters Centerline goodness : 0.148287 with order 3 Centerline is valid? [False, False] Translation: X:-15.04, Y:-0.02, Z:0.66 [[ 9.96400133e-01 -7.99218032e-04 -8.47710770e-02 -1.50367907e+01] [ 1.16765857e-03 9.99990087e-01 4.29680810e-03 -1.88818005e-02] [ 8.47668025e-02 -4.38032384e-03 9.96391189e-01 6.59995418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.482557844 meters Centerline goodness : 0.283974 with order 2 Centerline is valid? [False, False] Translation: X:-15.04, Y:-0.02, Z:0.66 [[ 9.96414418e-01 -4.79228098e-04 -8.46054279e-02 -1.50379430e+01] [ 9.00483549e-04 9.99987388e-01 4.94096830e-03 -2.20744994e-02] [ 8.46019930e-02 -4.99943784e-03 9.96402282e-01 6.60928369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.542557844 meters Centerline goodness : 0.172099 with order 1 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.03, Z:0.66 [[ 9.96018465e-01 5.00672417e-03 -8.90064665e-02 -1.50578910e+01] [-4.81540659e-03 9.99985611e-01 2.36407829e-03 -2.73269341e-02] [ 8.90170221e-02 -1.92606330e-03 9.96028243e-01 6.59208685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.602557844 meters Centerline goodness : 0.093688 with order 1 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.03, Z:0.66 [[ 9.96006477e-01 5.25720568e-03 -8.91260926e-02 -1.50576335e+01] [-5.01061645e-03 9.99982976e-01 2.99025501e-03 -3.03487358e-02] [ 8.91402957e-02 -2.53173669e-03 9.96015862e-01 6.59121998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.662557844 meters Centerline goodness : 0.149095 with order 3 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.04, Z:0.66 [[ 9.96061314e-01 2.52992266e-03 -8.86310257e-02 -1.50617934e+01] [-2.44122906e-03 9.99996405e-01 1.10908954e-03 -3.61503960e-02] [ 8.86335130e-02 -8.88352552e-04 9.96063909e-01 6.61882128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.722557844 meters Centerline goodness : 0.337225 with order 2 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.04, Z:0.66 [[ 9.96088334e-01 2.71787068e-03 -8.83212586e-02 -1.50625784e+01] [-2.56687702e-03 9.99995044e-01 1.82312798e-03 -4.02959906e-02] [ 8.83257759e-02 -1.58928671e-03 9.96090373e-01 6.61687576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.782557844 meters Centerline goodness : 0.147188 with order 3 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.04, Z:0.66 [[ 9.96137312e-01 2.80200719e-03 -8.77644771e-02 -1.50643459e+01] [-2.61843121e-03 9.99994137e-01 2.20674406e-03 -4.27539871e-02] [ 8.77701459e-02 -1.96841485e-03 9.96138809e-01 6.62026862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.842557844 meters Centerline goodness : 0.174733 with order 1 Centerline is valid? [False, False] Translation: X:-15.07, Y:-0.04, Z:0.66 [[ 9.96198912e-01 5.34069769e-03 -8.69436861e-02 -1.50690082e+01] [-4.97894081e-03 9.99978025e-01 4.37714266e-03 -4.19144379e-02] [ 8.69651525e-02 -3.92761728e-03 9.96203612e-01 6.64453153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.902557844 meters Centerline goodness : 0.174058 with order 1 Centerline is valid? [False, False] Translation: X:-15.07, Y:-0.04, Z:0.66 [[ 9.96108674e-01 5.70706181e-03 -8.79484966e-02 -1.50658441e+01] [-5.33801921e-03 9.99975937e-01 4.43074365e-03 -4.04499428e-02] [ 8.79716668e-02 -3.94403142e-03 9.96115169e-01 6.63745931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.962557844 meters Centerline goodness : 0.183480 with order 3 Centerline is valid? [False, False] Translation: X:-15.07, Y:-0.04, Z:0.66 [[ 9.96094194e-01 5.74229460e-03 -8.81100564e-02 -1.50652127e+01] [-5.37171914e-03 9.99975705e-01 4.44236274e-03 -4.06077572e-02] [ 8.81334250e-02 -3.95170926e-03 9.96100840e-01 6.63478239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.022557844 meters Centerline goodness : 0.132069 with order 3 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.04, Z:0.66 [[ 9.96062685e-01 5.88170920e-03 -8.84563875e-02 -1.50638985e+01] [-5.47646268e-03 9.99973372e-01 4.82330857e-03 -4.25370671e-02] [ 8.84824014e-02 -4.31988958e-03 9.96068373e-01 6.62824990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.082557844 meters Centerline goodness : 0.163149 with order 3 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.04, Z:0.66 [[ 9.96042207e-01 5.86570602e-03 -8.86877409e-02 -1.50625778e+01] [-5.45871006e-03 9.99973432e-01 4.83093340e-03 -4.27929434e-02] [ 8.87137214e-02 -4.32769290e-03 9.96047763e-01 6.61885646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.142557844 meters Centerline goodness : 0.182007 with order 1 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.04, Z:0.66 [[ 9.96011322e-01 5.95966472e-03 -8.90276884e-02 -1.50615350e+01] [-5.58352108e-03 9.99974406e-01 4.47346201e-03 -3.99962620e-02] [ 8.90520702e-02 -3.95853084e-03 9.96019106e-01 6.61836541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.202557844 meters Centerline goodness : 0.168372 with order 2 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.04, Z:0.66 [[ 9.95964103e-01 9.77420254e-03 -8.92186631e-02 -1.50601138e+01] [-9.15208912e-03 9.99930890e-01 7.37933958e-03 -3.54713536e-02] [ 8.92846244e-02 -6.53302017e-03 9.95984727e-01 6.61001700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.262557844 meters Centerline goodness : 0.184047 with order 1 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.03, Z:0.66 [[ 9.95956652e-01 9.63980126e-03 -8.93164113e-02 -1.50597846e+01] [-9.04457633e-03 9.99934127e-01 7.06656589e-03 -3.41034470e-02] [ 8.93786481e-02 -6.23016420e-03 9.95978234e-01 6.60927785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.322557844 meters Centerline goodness : 0.121571 with order 2 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.03, Z:0.66 [[ 9.95984238e-01 9.42042399e-03 -8.90317520e-02 -1.50607931e+01] [-8.88601819e-03 9.99940058e-01 6.39687799e-03 -3.05859222e-02] [ 8.90866765e-02 -5.58005188e-03 9.96008246e-01 6.61347924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.382557844 meters Centerline goodness : 0.123426 with order 3 Centerline is valid? [False, False] Translation: X:-15.06, Y:-0.03, Z:0.66 [[ 9.96016493e-01 9.27018806e-03 -8.86860156e-02 -1.50622623e+01] [-8.75737419e-03 9.99942620e-01 6.16971022e-03 -2.95675400e-02] [ 8.87381211e-02 -5.36847651e-03 9.96040524e-01 6.62081867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.442557844 meters Centerline goodness : 0.216470 with order 3 Centerline is valid? [False, False] Translation: X:-15.08, Y:-0.02, Z:0.66 [[ 9.96057194e-01 4.15723593e-04 -8.87124188e-02 -1.50839912e+01] [ 1.87355351e-04 9.99976932e-01 6.78969930e-03 -2.41189433e-02] [ 8.87131951e-02 -6.77954958e-03 9.96034139e-01 6.60272316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.502557844 meters Centerline goodness : 0.151196 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-0.02, Z:0.66 [[ 9.96117306e-01 4.34926516e-04 -8.80347835e-02 -1.50864156e+01] [ 1.61126529e-04 9.99977115e-01 6.76343443e-03 -2.34544225e-02] [ 8.80357104e-02 -6.75135883e-03 9.96094440e-01 6.61153056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.562557844 meters Centerline goodness : 0.159690 with order 1 Centerline is valid? [False, False] Translation: X:-15.13, Y:-0.02, Z:0.66 [[ 9.96534337e-01 2.96486475e-04 -8.31818961e-02 -1.51314005e+01] [ 2.19903936e-04 9.99980763e-01 6.19873578e-03 -1.83321165e-02] [ 8.31821339e-02 -6.19554507e-03 9.96515102e-01 6.56419427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.622557844 meters Centerline goodness : 0.110544 with order 2 Centerline is valid? [False, False] Translation: X:-15.13, Y:-0.02, Z:0.66 [[ 9.96496656e-01 4.47052374e-03 -8.35130454e-02 -1.51303399e+01] [-3.66626427e-03 9.99945442e-01 9.78122346e-03 -1.58665622e-02] [ 8.35522162e-02 -9.44077558e-03 9.96458679e-01 6.56216561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68255784400003 meters Centerline goodness : 0.164104 with order 1 Centerline is valid? [False, False] Translation: X:-15.13, Y:-0.01, Z:0.66 [[ 9.96471652e-01 4.19447508e-03 -8.38251391e-02 -1.51292261e+01] [-3.44242079e-03 9.99952539e-01 9.11422617e-03 -1.29089146e-02] [ 8.38593900e-02 -8.79350661e-03 9.96438797e-01 6.55884396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74255784400003 meters Centerline goodness : 0.167404 with order 1 Centerline is valid? [False, False] Translation: X:-15.13, Y:-0.01, Z:0.66 [[ 9.96439119e-01 4.07154456e-03 -8.42170116e-02 -1.51278012e+01] [-3.37646325e-03 9.99959067e-01 8.39424034e-03 -8.19696156e-03] [ 8.42477418e-02 -8.07999380e-03 9.96412079e-01 6.55396600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80255784400003 meters Centerline goodness : 0.176502 with order 1 Centerline is valid? [False, False] Translation: X:-15.13, Y:-0.00, Z:0.65 [[ 9.96410659e-01 3.94642415e-03 -8.45590005e-02 -1.51264357e+01] [-3.29504596e-03 9.99963827e-01 7.84141813e-03 -4.82988236e-03] [ 8.45868873e-02 -7.53464682e-03 9.96387619e-01 6.54854494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.862557844 meters Centerline goodness : 0.171869 with order 1 Centerline is valid? [False, False] Translation: X:-15.12, Y:-0.00, Z:0.65 [[ 9.96329426e-01 3.98338037e-03 -8.55091099e-02 -1.51232935e+01] [-3.37677582e-03 9.99968107e-01 7.23750043e-03 -7.78732960e-04] [ 8.55352125e-02 -6.92218956e-03 9.96311101e-01 6.53979899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.922557844 meters Centerline goodness : 0.100872 with order 2 Centerline is valid? [False, False] Translation: X:-15.12, Y:0.00, Z:0.65 [[ 9.96261932e-01 4.23751940e-03 -8.62798174e-02 -1.51207448e+01] [-3.64392938e-03 9.99968607e-01 7.03615593e-03 1.95522829e-03] [ 8.63069246e-02 -6.69545674e-03 9.96246097e-01 6.53316178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.982557844 meters Centerline goodness : 0.101914 with order 2 Centerline is valid? [False, False] Translation: X:-15.12, Y:0.01, Z:0.65 [[ 9.96138131e-01 6.12208400e-03 -8.75862139e-02 -1.51164771e+01] [-5.44082280e-03 9.99953079e-01 8.01479658e-03 8.30732914e-03] [ 8.76311715e-02 -7.50730342e-03 9.96124700e-01 6.52457595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.042557844 meters Centerline goodness : 0.190628 with order 1 Centerline is valid? [False, False] Translation: X:-15.12, Y:0.01, Z:0.65 [[ 9.96123070e-01 1.02310538e-02 -8.73736457e-02 -1.51176997e+01] [-9.27064659e-03 9.99892148e-01 1.13906823e-02 1.10866236e-02] [ 8.74807610e-02 -1.05365113e-02 9.96110485e-01 6.53411715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.102557844 meters Centerline goodness : 0.097214 with order 1 Centerline is valid? [False, False] Translation: X:-15.14, Y:0.01, Z:0.65 [[ 9.95917583e-01 2.04276442e-02 -8.79254145e-02 -1.51409612e+01] [-1.95090012e-02 9.99745881e-01 1.12947533e-02 1.42213316e-02] [ 8.81337962e-02 -9.53330638e-03 9.96063025e-01 6.52143435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.162557844 meters SLAMing on 413.222557844 meters Centerline goodness : 0.099313 with order 1 Centerline is valid? [False, False] Translation: X:-15.17, Y:0.02, Z:0.65 [[ 9.95624723e-01 3.14697843e-02 -8.79833129e-02 -1.51668310e+01] [-3.04762943e-02 9.99455909e-01 1.26127299e-02 2.28367085e-02] [ 8.83323619e-02 -9.87614037e-03 9.96042095e-01 6.51465114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.282557844 meters SLAMing on 413.342557844 meters Centerline goodness : 0.090232 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:0.02, Z:0.65 [[ 9.96128765e-01 2.84188771e-02 -8.31856435e-02 -1.51487581e+01] [-2.71152518e-02 9.99491811e-01 1.67595346e-02 2.45707737e-02] [ 8.36196566e-02 -1.44390548e-02 9.96393129e-01 6.52378379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.402557844 meters Centerline goodness : 0.098068 with order 1 Centerline is valid? [False, False] Translation: X:-15.17, Y:0.03, Z:0.65 [[ 0.99634599 0.0200283 -0.08302737 -15.17008922] [ -0.01864312 0.99967434 0.01742531 0.02983193] [ 0.08334933 -0.01581374 0.99639491 0.65030114] [ 0. 0. 0. 1. ]] SLAMing on 413.462557844 meters Centerline goodness : 0.294330 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:0.03, Z:0.65 [[ 9.96466851e-01 1.31358880e-02 -8.29533772e-02 -1.51517534e+01] [-1.15462215e-02 9.99740952e-01 1.96141281e-02 3.38621490e-02] [ 8.31895373e-02 -1.85870304e-02 9.96360388e-01 6.53530687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.522557844 meters Centerline goodness : 0.136397 with order 2 Centerline is valid? [False, False] Translation: X:-15.15, Y:0.03, Z:0.65 [[ 9.96489575e-01 9.46397158e-03 -8.31802926e-02 -1.51508124e+01] [-8.12968030e-03 9.99833033e-01 1.63650512e-02 3.12196590e-02] [ 8.33212826e-02 -1.56313737e-02 9.96400132e-01 6.52961517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.582557844 meters Centerline goodness : 0.224578 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:0.03, Z:0.65 [[ 9.96485193e-01 9.81172745e-03 -8.31924911e-02 -1.51506721e+01] [-8.44603748e-03 9.99824000e-01 1.67521045e-02 3.00698019e-02] [ 8.33422164e-02 -1.59905771e-02 9.96392682e-01 6.52804452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.642557844 meters Centerline goodness : 0.397004 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:0.03, Z:0.65 [[ 9.96456550e-01 1.05021511e-02 -8.34508780e-02 -1.51495689e+01] [-9.08148281e-03 9.99807619e-01 1.73854086e-02 2.81213889e-02] [ 8.36174078e-02 -1.65659465e-02 9.96360225e-01 6.52197944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.702557844 meters Centerline goodness : 0.157330 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:0.02, Z:0.65 [[ 9.96390922e-01 1.09783491e-02 -8.41701076e-02 -1.51473097e+01] [-9.47507375e-03 9.99788764e-01 1.82386919e-02 2.41242239e-02] [ 8.43525586e-02 -1.73753490e-02 9.96284469e-01 6.51613776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.762557844 meters Centerline goodness : 0.163771 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:0.02, Z:0.65 [[ 9.96397274e-01 7.98321465e-03 -8.44318698e-02 -1.51464800e+01] [-6.69793803e-03 9.99857511e-01 1.54949776e-02 2.16770809e-02] [ 8.45435390e-02 -1.48736340e-02 9.96308770e-01 6.51316890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.822557844 meters Centerline goodness : 0.410356 with order 1 Centerline is valid? [False, False] Translation: X:-15.15, Y:0.01, Z:0.65 [[ 9.96397931e-01 8.67890822e-03 -8.43554374e-02 -1.51465979e+01] [-7.28097423e-03 9.99831257e-01 1.68654932e-02 1.42852268e-02] [ 8.44875771e-02 -1.61905528e-02 9.96292987e-01 6.51359245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.882557844 meters Centerline goodness : 0.156155 with order 2 Centerline is valid? [False, False] Translation: X:-15.13, Y:0.01, Z:0.65 [[ 9.96495811e-01 1.47831066e-02 -8.23259227e-02 -1.51259926e+01] [-1.36627420e-02 9.99806454e-01 1.41556896e-02 6.83180187e-03] [ 8.25192540e-02 -1.29812876e-02 9.96504922e-01 6.53390141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.942557844 meters Centerline goodness : 0.167672 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:0.01, Z:0.66 [[ 9.96586535e-01 7.14853162e-03 -8.22446101e-02 -1.51067725e+01] [-5.88089923e-03 9.99860316e-01 1.56448926e-02 6.92442879e-03] [ 8.23449599e-02 -1.51078171e-02 9.96489368e-01 6.56317372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.002557844 meters Centerline goodness : 0.398347 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:0.00, Z:0.66 [[ 9.96628093e-01 7.64158853e-03 -8.16948651e-02 -1.51086930e+01] [-6.30236535e-03 9.99841711e-01 1.66383113e-02 1.98648903e-03] [ 8.18090768e-02 -1.60673376e-02 9.96518497e-01 6.57147094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.062557844 meters Centerline goodness : 0.136845 with order 3 Centerline is valid? [False, False] Translation: X:-15.09, Y:0.00, Z:0.66 [[ 9.96842096e-01 -8.09630435e-05 -7.94092479e-02 -1.50895700e+01] [ 1.51798415e-03 9.99836182e-01 1.80361955e-02 3.34396097e-03] [ 7.93947790e-02 -1.80997810e-02 9.96678919e-01 6.59548336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.122557844 meters Centerline goodness : 0.137206 with order 3 Centerline is valid? [False, False] Translation: X:-15.09, Y:0.00, Z:0.66 [[ 9.96758079e-01 -2.01584059e-04 -8.04567650e-02 -1.50862502e+01] [ 1.66254511e-03 9.99834948e-01 1.80917600e-02 2.44306749e-03] [ 8.04398384e-02 -1.81668709e-02 9.96593898e-01 6.58730473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18255784400003 meters Centerline goodness : 0.401174 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-0.00, Z:0.66 [[ 9.96727387e-01 7.29382435e-03 -8.05066160e-02 -1.51054966e+01] [-5.95522281e-03 9.99840212e-01 1.68548286e-02 -3.10254756e-03] [ 8.06166882e-02 -1.63202344e-02 9.96611559e-01 6.55918374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24255784400003 meters Centerline goodness : 0.167604 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-0.00, Z:0.66 [[ 9.96910026e-01 5.87018337e-03 -7.83322413e-02 -1.51126517e+01] [-4.66112129e-03 9.99867308e-01 1.56089738e-02 -4.80839572e-04] [ 7.84134748e-02 -1.51956264e-02 9.96805106e-01 6.57831331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30255784400003 meters Centerline goodness : 0.135086 with order 3 Centerline is valid? [False, False] Translation: X:-15.09, Y:0.00, Z:0.66 [[ 9.96919212e-01 -2.91893142e-03 -7.83808901e-02 -1.50911741e+01] [ 4.16260780e-03 9.99867951e-01 1.57083916e-02 4.86093511e-03] [ 7.83246883e-02 -1.59862663e-02 9.96799720e-01 6.60023421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.362557844 meters Centerline goodness : 0.198782 with order 3 Centerline is valid? [False, False] Translation: X:-15.09, Y:0.01, Z:0.66 [[ 9.96884974e-01 -6.82586648e-03 -7.85732474e-02 -1.50894309e+01] [ 7.81449789e-03 9.99894041e-01 1.22816906e-02 6.07876243e-03] [ 7.84810887e-02 -1.28574433e-02 9.96832686e-01 6.58020677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.422557844 meters Centerline goodness : 0.200444 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:0.01, Z:0.66 [[ 9.96900733e-01 -7.44091747e-03 -7.83170544e-02 -1.50903275e+01] [ 8.42872887e-03 9.99888950e-01 1.22899774e-02 5.06322356e-03] [ 7.82169086e-02 -1.29120007e-02 9.96852745e-01 6.57779158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.482557844 meters Centerline goodness : 0.396499 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:0.00, Z:0.66 [[ 9.96774924e-01 -1.08143774e-02 -7.95160309e-02 -1.50850907e+01] [ 1.16240198e-02 9.99885134e-01 9.72629385e-03 1.62865615e-03] [ 7.94017135e-02 -1.06192217e-02 9.96786136e-01 6.55056089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.542557844 meters Centerline goodness : 0.395163 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-0.00, Z:0.65 [[ 9.96795480e-01 -1.09770972e-02 -7.92355602e-02 -1.50858846e+01] [ 1.18076716e-02 9.99880068e-01 1.00214214e-02 -2.59873386e-04] [ 7.91160512e-02 -1.09248950e-02 9.96805546e-01 6.54949505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.602557844 meters Centerline goodness : 0.395178 with order 1 Centerline is valid? [False, False] Translation: X:-15.09, Y:-0.00, Z:0.65 [[ 9.96798897e-01 -1.07467622e-02 -7.92241457e-02 -1.50855911e+01] [ 1.16264086e-02 9.99875691e-01 1.06503514e-02 -2.89380241e-03] [ 7.90998406e-02 -1.15373508e-02 9.96799932e-01 6.54339735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.662557844 meters Centerline goodness : 0.241018 with order 3 Centerline is valid? [False, False] Translation: X:-15.07, Y:-0.01, Z:0.66 [[ 9.96787855e-01 -2.73612273e-03 -8.00405235e-02 -1.50656852e+01] [ 3.58120249e-03 9.99939334e-01 1.04165036e-02 -9.34388881e-03] [ 8.00071669e-02 -1.06696856e-02 9.96737183e-01 6.56116500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.722557844 meters Centerline goodness : 0.401040 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-0.01, Z:0.65 [[ 9.97096406e-01 -1.30368809e-03 -7.61384042e-02 -1.51111148e+01] [ 2.24208136e-03 9.99922567e-01 1.22406575e-02 -9.24957546e-03] [ 7.61165506e-02 -1.23758241e-02 9.97022121e-01 6.53128356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.782557844 meters Centerline goodness : 0.246248 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-0.01, Z:0.65 [[ 9.97088148e-01 -1.34410938e-03 -7.62457787e-02 -1.51110642e+01] [ 2.28935078e-03 9.99921593e-01 1.23112459e-02 -9.00478854e-03] [ 7.62232528e-02 -1.24499507e-02 9.97013046e-01 6.53397691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.842557844 meters Centerline goodness : 0.160457 with order 2 Centerline is valid? [False, False] Translation: X:-15.11, Y:-0.01, Z:0.65 [[ 9.97088355e-01 -1.27685763e-03 -7.62442222e-02 -1.51119622e+01] [ 2.22803074e-03 9.99920739e-01 1.23915892e-02 -8.16727174e-03] [ 7.62223567e-02 -1.25253838e-02 9.97012170e-01 6.54536902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.902557844 meters Centerline goodness : 0.209534 with order 3 Centerline is valid? [False, False] Translation: X:-15.11, Y:-0.01, Z:0.66 [[ 9.97093639e-01 -1.33485227e-03 -7.61741007e-02 -1.51126012e+01] [ 2.28372191e-03 9.99920870e-01 1.23708444e-02 -7.34893205e-03] [ 7.61515598e-02 -1.25088507e-02 9.97017787e-01 6.55114837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.962557844 meters Centerline goodness : 0.123846 with order 1 Centerline is valid? [False, False] Translation: X:-15.11, Y:-0.01, Z:0.65 [[ 9.97073585e-01 -1.57537338e-03 -7.64315641e-02 -1.51117791e+01] [ 2.51626141e-03 9.99922222e-01 1.22154628e-02 -7.31235837e-03] [ 7.64063755e-02 -1.23720371e-02 9.96999999e-01 6.54830338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.022557844 meters Centerline goodness : 0.182649 with order 2 Centerline is valid? [False, False] Translation: X:-15.16, Y:-0.00, Z:0.65 [[ 9.96970791e-01 -2.76064309e-03 -7.77278651e-02 -1.51600513e+01] [ 3.70275070e-03 9.99921393e-01 1.19790786e-02 -4.64633554e-03] [ 7.76886852e-02 -1.22305983e-02 9.96902644e-01 6.53440719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.082557844 meters Centerline goodness : 0.396786 with order 1 Centerline is valid? [False, False] Translation: X:-15.16, Y:-0.00, Z:0.65 [[ 9.96983987e-01 -3.27702395e-03 -7.75383236e-02 -1.51607394e+01] [ 4.19349511e-03 9.99923230e-01 1.16597195e-02 -4.27197747e-03] [ 7.74941618e-02 -1.19497102e-02 9.96921190e-01 6.53690728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.142557844 meters Centerline goodness : 0.265203 with order 3 Centerline is valid? [False, False] Translation: X:-15.16, Y:-0.00, Z:0.65 [[ 9.97052800e-01 -4.00000451e-03 -7.66140572e-02 -1.51631350e+01] [ 4.88049433e-03 9.99924144e-01 1.13087531e-02 -3.94582557e-03] [ 7.65630105e-02 -1.16493384e-02 9.96996689e-01 6.53646338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.202557844 meters Centerline goodness : 0.126698 with order 2 Centerline is valid? [False, False] Translation: X:-15.16, Y:-0.00, Z:0.65 [[ 9.97023475e-01 -4.59938709e-03 -7.69612607e-02 -1.51619616e+01] [ 5.46953621e-03 9.99923441e-01 1.10993639e-02 -4.43173258e-03] [ 7.69043184e-02 -1.14872687e-02 9.96972301e-01 6.53137116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.262557844 meters SLAMing on 415.322557844 meters SLAMing on 415.382557844 meters Centerline goodness : 0.168725 with order 1 Centerline is valid? [False, False] Translation: X:-15.22, Y:0.02, Z:0.65 [[ 9.96952067e-01 -5.80603706e-03 -7.78001665e-02 -1.52182971e+01] [ 7.01305111e-03 9.99859117e-01 1.52500537e-02 1.93018772e-02] [ 7.77006633e-02 -1.57491891e-02 9.96852331e-01 6.46674292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.442557844 meters Centerline goodness : 0.115405 with order 2 Centerline is valid? [False, False] Translation: X:-15.24, Y:0.03, Z:0.64 [[ 9.96725601e-01 4.03385111e-03 -8.07576885e-02 -1.52384543e+01] [-2.81763012e-03 9.99880983e-01 1.51684249e-02 2.53686175e-02] [ 8.08092641e-02 -1.48912122e-02 9.96618340e-01 6.44933342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.502557844 meters Centerline goodness : 0.167209 with order 1 Centerline is valid? [False, False] Translation: X:-15.29, Y:0.03, Z:0.64 [[ 9.96560172e-01 3.33675186e-03 -8.28051350e-02 -1.52855042e+01] [-2.16295266e-03 9.99895966e-01 1.42610993e-02 3.19439968e-02] [ 8.28441062e-02 -1.40329400e-02 9.96463713e-01 6.43349622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.562557844 meters Centerline goodness : 0.167365 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:0.04, Z:0.64 [[ 9.96419162e-01 1.71630766e-03 -8.45334702e-02 -1.52797236e+01] [-6.45649401e-04 9.99919255e-01 1.26912055e-02 3.66408885e-02] [ 8.45484266e-02 -1.25911814e-02 9.96339814e-01 6.41574469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.622557844 meters Centerline goodness : 0.169055 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:0.04, Z:0.64 [[ 9.96437542e-01 1.36331668e-03 -8.43229884e-02 -1.52801755e+01] [-3.28966394e-04 9.99924554e-01 1.22792061e-02 3.81592707e-02] [ 8.43333670e-02 -1.22077226e-02 9.96362813e-01 6.41393597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68255784400003 meters Centerline goodness : 0.169036 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:0.04, Z:0.64 [[ 9.96485709e-01 1.09691158e-03 -8.37557724e-02 -1.52821491e+01] [-1.07446753e-04 9.99930168e-01 1.18172849e-02 4.04067842e-02] [ 8.37628860e-02 -1.17667562e-02 9.96416240e-01 6.42073055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74255784400003 meters Centerline goodness : 0.162187 with order 1 Centerline is valid? [False, False] Translation: X:-15.28, Y:0.04, Z:0.64 [[ 9.96497646e-01 9.37915945e-04 -8.36155583e-02 -1.52824437e+01] [ 3.67577788e-05 9.99932086e-01 1.16543058e-02 4.08608877e-02] [ 8.36208104e-02 -1.16165618e-02 9.96429935e-01 6.41898897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80255784400003 meters Centerline goodness : 0.135128 with order 2 Centerline is valid? [False, False] Translation: X:-15.32, Y:0.04, Z:0.64 [[ 9.96141023e-01 -3.18269770e-04 -8.77665093e-02 -1.53215687e+01] [ 1.25016937e-03 9.99943427e-01 1.05631777e-02 4.28114435e-02] [ 8.77581822e-02 -1.06321376e-02 9.96085066e-01 6.36945121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.862557844 meters Centerline goodness : 0.115798 with order 2 Centerline is valid? [False, False] Translation: X:-15.32, Y:0.04, Z:0.64 [[ 9.96124863e-01 -1.92860226e-04 -8.79500966e-02 -1.53208725e+01] [ 1.15630173e-03 9.99939885e-01 1.09035954e-02 4.15004876e-02] [ 8.79427067e-02 -1.09630393e-02 9.96065205e-01 6.36553530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.922557844 meters Centerline goodness : 0.159927 with order 1 Centerline is valid? [False, False] Translation: X:-15.32, Y:0.04, Z:0.64 [[ 9.96154918e-01 -1.16423789e-04 -8.76091653e-02 -1.53219863e+01] [ 1.09320940e-03 9.99937779e-01 1.11014570e-02 4.02288108e-02] [ 8.76024217e-02 -1.11545461e-02 9.96093064e-01 6.36849776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.982557844 meters Centerline goodness : 0.175442 with order 1 Centerline is valid? [False, False] Translation: X:-15.32, Y:0.04, Z:0.64 [[ 9.96158424e-01 -1.12630628e-04 -8.75692954e-02 -1.53221959e+01] [ 1.08487568e-03 9.99938302e-01 1.10550663e-02 4.06054117e-02] [ 8.75626474e-02 -1.11075992e-02 9.96097086e-01 6.36929859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.042557844 meters Centerline goodness : 0.112629 with order 2 Centerline is valid? [False, False] Translation: X:-15.37, Y:0.04, Z:0.63 [[ 9.95895067e-01 1.83193127e-03 -9.04967426e-02 -1.53668790e+01] [-6.90683241e-04 9.99919865e-01 1.26406366e-02 4.40241360e-02] [ 9.05126475e-02 -1.25262430e-02 9.95816526e-01 6.33905237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.102557844 meters Centerline goodness : 0.113638 with order 2 Centerline is valid? [False, False] Translation: X:-15.41, Y:0.05, Z:0.63 [[ 9.95726871e-01 2.01596751e-03 -9.23251596e-02 -1.54137750e+01] [-8.53848810e-04 9.99919937e-01 1.26250082e-02 4.75036057e-02] [ 9.23432194e-02 -1.24922282e-02 9.95648871e-01 6.31373926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.162557844 meters Centerline goodness : 0.170721 with order 1 Centerline is valid? [False, False] Translation: X:-15.41, Y:0.05, Z:0.63 [[ 9.95691126e-01 1.98503135e-03 -9.27105268e-02 -1.54127167e+01] [-8.07740555e-04 9.99918588e-01 1.27343645e-02 4.72011713e-02] [ 9.27282572e-02 -1.26046077e-02 9.95611668e-01 6.31164339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.222557844 meters Centerline goodness : 0.102878 with order 2 Centerline is valid? [False, False] Translation: X:-15.41, Y:0.05, Z:0.63 [[ 9.95642561e-01 1.85120555e-03 -9.32333814e-02 -1.54111858e+01] [-6.53259142e-04 9.99916865e-01 1.28777808e-02 4.60669491e-02] [ 9.32494698e-02 -1.27607611e-02 9.95560997e-01 6.30783804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.282557844 meters Centerline goodness : 0.111186 with order 2 Centerline is valid? [False, False] Translation: X:-15.42, Y:0.05, Z:0.63 [[ 9.95767956e-01 9.63213649e-05 -9.19030362e-02 -1.54171747e+01] [ 8.96613069e-04 9.99941677e-01 1.07628034e-02 5.17118864e-02] [ 9.18987129e-02 -1.07996562e-02 9.95709794e-01 6.33589372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.342557844 meters Centerline goodness : 0.166681 with order 1 Centerline is valid? [False, False] Translation: X:-15.42, Y:0.06, Z:0.63 [[ 9.95777646e-01 3.96323290e-03 -9.17124432e-02 -1.54176335e+01] [-2.70578018e-03 9.99900685e-01 1.38310989e-02 5.57185324e-02] [ 9.17581507e-02 -1.35245454e-02 9.95689474e-01 6.33550236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.402557844 meters Centerline goodness : 0.110902 with order 2 Centerline is valid? [False, False] Translation: X:-15.44, Y:0.07, Z:0.63 [[ 9.95984580e-01 -1.53930487e-03 -8.95117133e-02 -1.54378410e+01] [ 2.96437438e-03 9.99870940e-01 1.57897208e-02 6.68628071e-02] [ 8.94758557e-02 -1.59916647e-02 9.95860602e-01 6.29290824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.462557844 meters Centerline goodness : 0.171382 with order 1 Centerline is valid? [False, False] Translation: X:-15.44, Y:0.07, Z:0.63 [[ 9.96013257e-01 -2.11358815e-03 -8.91802960e-02 -1.54391485e+01] [ 3.46102343e-03 9.99882145e-01 1.49571848e-02 7.04175736e-02] [ 8.91381723e-02 -1.52062094e-02 9.95903187e-01 6.29807601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.522557844 meters Centerline goodness : 0.167684 with order 1 Centerline is valid? [False, False] Translation: X:-15.48, Y:0.07, Z:0.63 [[ 9.95630729e-01 -3.60151191e-03 -9.33085225e-02 -1.54799077e+01] [ 4.88544969e-03 9.99896458e-01 1.35353643e-02 7.41540927e-02] [ 9.32501133e-02 -1.39320787e-02 9.95545234e-01 6.25956751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.582557844 meters Centerline goodness : 0.121716 with order 2 Centerline is valid? [False, False] Translation: X:-15.48, Y:0.08, Z:0.63 [[ 9.95559816e-01 -3.74681726e-03 -9.40564456e-02 -1.54772968e+01] [ 5.00921563e-03 9.99900471e-01 1.31892019e-02 7.64020392e-02] [ 9.39976667e-02 -1.36017884e-02 9.95479498e-01 6.25041776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.642557844 meters Centerline goodness : 0.407198 with order 1 Centerline is valid? [False, False] Translation: X:-15.48, Y:0.09, Z:0.63 [[ 9.95699829e-01 -4.57626647e-04 -9.26371447e-02 -1.54835588e+01] [ 1.85486644e-03 9.99885812e-01 1.49973945e-02 8.61049263e-02] [ 9.26197035e-02 -1.51047327e-02 9.95586981e-01 6.27976772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.702557844 meters Centerline goodness : 0.167375 with order 1 Centerline is valid? [False, False] Translation: X:-15.48, Y:0.09, Z:0.63 [[ 9.95702609e-01 3.40211828e-03 -9.25458788e-02 -1.54835848e+01] [-1.76279494e-03 9.99840198e-01 1.77896100e-02 9.21134028e-02] [ 9.25916121e-02 -1.75500216e-02 9.95549492e-01 6.27780667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.762557844 meters Centerline goodness : 0.178635 with order 3 Centerline is valid? [False, False] Translation: X:-15.50, Y:0.11, Z:0.62 [[ 9.95930198e-01 -3.54935228e-03 -9.00579925e-02 -1.55016949e+01] [ 5.15563657e-03 9.99831644e-01 1.76097577e-02 1.05227810e-01] [ 8.99803275e-02 -1.80023958e-02 9.95780826e-01 6.23619964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.822557844 meters Centerline goodness : 0.130318 with order 3 Centerline is valid? [False, False] Translation: X:-15.50, Y:0.11, Z:0.62 [[ 9.95816442e-01 -3.84358049e-03 -9.12953460e-02 -1.54982589e+01] [ 5.46338016e-03 9.99831952e-01 1.74991310e-02 1.06101422e-01] [ 9.12127447e-02 -1.79247035e-02 9.95670096e-01 6.23203236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.882557844 meters Centerline goodness : 0.134326 with order 3 Centerline is valid? [False, False] Translation: X:-15.50, Y:0.11, Z:0.62 [[ 9.95724988e-01 -4.60781562e-03 -9.22524635e-02 -1.54952974e+01] [ 6.20611703e-03 9.99835447e-01 1.70459233e-02 1.06457381e-01] [ 9.21587386e-02 -1.75455813e-02 9.95589735e-01 6.22420360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.942557844 meters Centerline goodness : 0.153480 with order 3 Centerline is valid? [False, False] Translation: X:-15.50, Y:0.11, Z:0.62 [[ 9.95789588e-01 -4.81414618e-03 -9.15419055e-02 -1.54976718e+01] [ 6.39266341e-03 9.99835762e-01 1.69582678e-02 1.06097319e-01] [ 9.14452313e-02 -1.74720631e-02 9.95656817e-01 6.23099348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.002557844 meters Centerline goodness : 0.220300 with order 3 Centerline is valid? [False, False] Translation: X:-15.52, Y:0.10, Z:0.62 [[ 9.96023524e-01 2.60992230e-03 -8.90523912e-02 -1.55200136e+01] [-1.21139551e-03 9.99875149e-01 1.57549730e-02 1.01607208e-01] [ 8.90823922e-02 -1.55844461e-02 9.95902331e-01 6.20200585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.062557844 meters Centerline goodness : 0.105785 with order 2 Centerline is valid? [False, False] Translation: X:-15.52, Y:0.10, Z:0.62 [[ 9.96025072e-01 2.60470969e-03 -8.90352240e-02 -1.55200636e+01] [-1.21249873e-03 9.99876214e-01 1.56871412e-02 1.01866914e-01] [ 8.90650632e-02 -1.55168308e-02 9.95904936e-01 6.20190589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.122557844 meters Centerline goodness : 0.149461 with order 2 Centerline is valid? [False, False] Translation: X:-15.52, Y:0.10, Z:0.62 [[ 9.96057669e-01 3.08013415e-03 -8.86545656e-02 -1.55211611e+01] [-1.69337443e-03 9.99875105e-01 1.57132445e-02 1.03175457e-01] [ 8.86918920e-02 -1.55011723e-02 9.95938483e-01 6.20464996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18255784400003 meters Centerline goodness : 0.141367 with order 3 Centerline is valid? [False, False] Translation: X:-15.52, Y:0.11, Z:0.62 [[ 9.96083208e-01 3.18097196e-03 -8.83635851e-02 -1.55222523e+01] [-1.83294007e-03 9.99880771e-01 1.53324683e-02 1.05648211e-01] [ 8.84018217e-02 -1.51104491e-02 9.95970277e-01 6.21020952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24255784400003 meters Centerline goodness : 0.149024 with order 2 Centerline is valid? [False, False] Translation: X:-15.52, Y:0.11, Z:0.62 [[ 9.96045258e-01 3.22058619e-03 -8.87889131e-02 -1.55207348e+01] [-1.91157555e-03 9.99888291e-01 1.48240429e-02 1.09168140e-01] [ 8.88267366e-02 -1.45956909e-02 9.95940147e-01 6.20534478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30255784400003 meters Centerline goodness : 0.146141 with order 3 Centerline is valid? [False, False] Translation: X:-15.52, Y:0.12, Z:0.62 [[ 9.95961087e-01 5.74679799e-03 -8.96018234e-02 -1.55163598e+01] [-4.29788150e-03 9.99857008e-01 1.63551751e-02 1.16935558e-01] [ 8.96830010e-02 -1.59040199e-02 9.95843372e-01 6.18208901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.362557844 meters Centerline goodness : 0.131068 with order 2 Centerline is valid? [False, False] Translation: X:-15.52, Y:0.12, Z:0.62 [[ 9.95960026e-01 5.21993465e-03 -8.96458514e-02 -1.55160197e+01] [-3.85819473e-03 9.99874634e-01 1.53567901e-02 1.21838990e-01] [ 8.97147742e-02 -1.49488780e-02 9.95855306e-01 6.17902622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.422557844 meters Centerline goodness : 0.128190 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:0.13, Z:0.62 [[ 9.96051385e-01 -3.16939618e-03 -8.87219972e-02 -1.55383522e+01] [ 4.57964220e-03 9.99866321e-01 1.56960675e-02 1.30611463e-01] [ 8.86603899e-02 -1.60404048e-02 9.95932749e-01 6.15216910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.482557844 meters Centerline goodness : 0.127709 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:0.13, Z:0.62 [[ 9.96061415e-01 -4.12136553e-03 -8.85701566e-02 -1.55392195e+01] [ 5.45956214e-03 9.99874501e-01 1.48719493e-02 1.32890170e-01] [ 8.84977484e-02 -1.52969292e-02 9.95958911e-01 6.15780846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.542557844 meters Centerline goodness : 0.227324 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:0.13, Z:0.61 [[ 9.95955304e-01 -4.52001500e-03 -8.97362945e-02 -1.55356849e+01] [ 5.87346785e-03 9.99872864e-01 1.48242260e-02 1.32005073e-01] [ 8.96578801e-02 -1.52913297e-02 9.95855230e-01 6.14892122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.602557844 meters Centerline goodness : 0.231897 with order 3 Centerline is valid? [False, False] Translation: X:-15.54, Y:0.13, Z:0.62 [[ 9.95978077e-01 -4.50793688e-03 -8.94837867e-02 -1.55368162e+01] [ 5.85147186e-03 9.99873978e-01 1.47576332e-02 1.32692544e-01] [ 8.94059834e-02 -1.52218910e-02 9.95878941e-01 6.15586879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.662557844 meters Centerline goodness : 0.145332 with order 1 Centerline is valid? [False, False] Translation: X:-15.56, Y:0.13, Z:0.61 [[ 9.96066755e-01 5.38640682e-03 -8.84421088e-02 -1.55625553e+01] [-4.12018484e-03 9.99886478e-01 1.44932795e-02 1.34633384e-01] [ 8.85101353e-02 -1.40718760e-02 9.95975872e-01 6.14719753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.722557844 meters Centerline goodness : 0.127927 with order 3 Centerline is valid? [False, False] Translation: X:-15.56, Y:0.14, Z:0.61 [[ 9.96019991e-01 5.75219878e-03 -8.89443119e-02 -1.55612263e+01] [-4.52529792e-03 9.99891901e-01 1.39895375e-02 1.39572571e-01] [ 8.90151677e-02 -1.35313595e-02 9.95938353e-01 6.14824238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.782557844 meters Centerline goodness : 0.128307 with order 3 Centerline is valid? [False, False] Translation: X:-15.56, Y:0.15, Z:0.61 [[ 9.95973612e-01 7.80497473e-03 -8.93064792e-02 -1.55586908e+01] [-6.51491192e-03 9.99870316e-01 1.47277354e-02 1.48930374e-01] [ 8.94098472e-02 -1.40866120e-02 9.95895299e-01 6.13224091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.842557844 meters Centerline goodness : 0.125608 with order 3 Centerline is valid? [False, False] Translation: X:-15.56, Y:0.15, Z:0.61 [[ 9.96001288e-01 7.42722225e-03 -8.90296017e-02 -1.55597259e+01] [-6.22442720e-03 9.99885676e-01 1.37800867e-02 1.53791118e-01] [ 8.91217712e-02 -1.31708258e-02 9.95933652e-01 6.13705218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.902557844 meters Centerline goodness : 0.128941 with order 3 Centerline is valid? [False, False] Translation: X:-15.56, Y:0.16, Z:0.61 [[ 9.96019933e-01 7.19853913e-03 -8.88395974e-02 -1.55599646e+01] [-6.03875590e-03 9.99893094e-01 1.33166780e-02 1.56688882e-01] [ 8.89259606e-02 -1.27271961e-02 9.95956923e-01 6.13411528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.962557844 meters Centerline goodness : 0.167766 with order 3 Centerline is valid? [False, False] Translation: X:-15.58, Y:0.16, Z:0.61 [[ 9.95944756e-01 -1.46554858e-03 -8.99549630e-02 -1.55796861e+01] [ 2.72438868e-03 9.99900055e-01 1.38729256e-02 1.60070080e-01] [ 8.99256410e-02 -1.40617398e-02 9.95849209e-01 6.10426298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.022557844 meters Centerline goodness : 0.123249 with order 3 Centerline is valid? [False, False] Translation: X:-15.57, Y:0.15, Z:0.61 [[ 9.95842900e-01 -5.00212383e-03 -9.09499728e-02 -1.55749064e+01] [ 6.08568370e-03 9.99913729e-01 1.16403841e-02 1.53677135e-01] [ 9.08838998e-02 -1.21454866e-02 9.95787429e-01 6.07733063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.082557844 meters Centerline goodness : 0.126805 with order 2 Centerline is valid? [False, False] Translation: X:-15.57, Y:0.15, Z:0.61 [[ 9.95843485e-01 -4.87420551e-03 -9.09505146e-02 -1.55748571e+01] [ 6.03222782e-03 9.99904152e-01 1.24619025e-02 1.49104634e-01] [ 9.08810553e-02 -1.29587386e-02 9.95777437e-01 6.07608264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.142557844 meters Centerline goodness : 0.230004 with order 3 Centerline is valid? [False, False] Translation: X:-15.58, Y:0.15, Z:0.61 [[ 9.95855936e-01 -4.52482358e-03 -9.08321587e-02 -1.55752988e+01] [ 5.73833913e-03 9.99897683e-01 1.31032719e-02 1.45907709e-01] [ 9.07635750e-02 -1.35701968e-02 9.95780007e-01 6.07781970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.202557844 meters Centerline goodness : 0.143224 with order 3 Centerline is valid? [False, False] Translation: X:-15.60, Y:0.14, Z:0.61 [[ 9.95806313e-01 5.23370112e-03 -9.13367122e-02 -1.55963164e+01] [-4.09471269e-03 9.99911562e-01 1.26531543e-02 1.44101253e-01] [ 9.13948574e-02 -1.22260933e-02 9.95739676e-01 6.05318582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.262557844 meters Centerline goodness : 0.128805 with order 3 Centerline is valid? [False, False] Translation: X:-15.64, Y:0.15, Z:0.60 [[ 9.95830055e-01 8.73194138e-03 -9.08088873e-02 -1.56359982e+01] [-7.66275341e-03 9.99897237e-01 1.21160377e-02 1.48996849e-01] [ 9.09053520e-02 -1.13696684e-02 9.95794631e-01 6.01588955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.322557844 meters Centerline goodness : 0.145167 with order 1 Centerline is valid? [False, False] Translation: X:-15.64, Y:0.15, Z:0.60 [[ 9.95845110e-01 8.86172930e-03 -9.06310442e-02 -1.56369044e+01] [-7.82746751e-03 9.99900201e-01 1.17608671e-02 1.52189747e-01] [ 9.07262209e-02 -1.10025904e-02 9.95815091e-01 6.02248211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.382557844 meters Centerline goodness : 0.135287 with order 2 Centerline is valid? [False, False] Translation: X:-15.64, Y:0.16, Z:0.60 [[ 9.95815159e-01 8.58360201e-03 -9.09862076e-02 -1.56358224e+01] [-7.60118729e-03 9.99909074e-01 1.11384356e-02 1.55210580e-01] [ 9.10735426e-02 -1.04002198e-02 9.95789860e-01 6.02068440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.442557844 meters Centerline goodness : 0.150938 with order 3 Centerline is valid? [False, False] Translation: X:-15.66, Y:0.17, Z:0.60 [[ 9.96087236e-01 3.83989148e-03 -8.82919778e-02 -1.56579619e+01] [-2.69413479e-03 9.99910661e-01 1.30924143e-02 1.66412952e-01] [ 8.83343633e-02 -1.28033163e-02 9.96008592e-01 5.99604281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.502557844 meters Centerline goodness : 0.148851 with order 3 Centerline is valid? [False, False] Translation: X:-15.66, Y:0.17, Z:0.60 [[ 9.96094612e-01 3.63063130e-03 -8.82175872e-02 -1.56581270e+01] [-2.52263955e-03 9.99916576e-01 1.26680041e-02 1.68580243e-01] [ 8.82562205e-02 -1.23959894e-02 9.96020672e-01 5.99539707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.562557844 meters Centerline goodness : 0.125147 with order 3 Centerline is valid? [False, False] Translation: X:-15.68, Y:0.17, Z:0.60 [[ 9.96060658e-01 -6.01720302e-03 -8.84701018e-02 -1.56810041e+01] [ 7.14482119e-03 9.99897161e-01 1.24346085e-02 1.71125857e-01] [ 8.83861821e-02 -1.30177274e-02 9.96001216e-01 5.97800545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.622557844 meters Centerline goodness : 0.237833 with order 3 Centerline is valid? [False, False] Translation: X:-15.68, Y:0.17, Z:0.60 [[ 9.96126229e-01 -6.30787489e-03 -8.77082989e-02 -1.56831840e+01] [ 7.44471506e-03 9.99892391e-01 1.26405351e-02 1.68967045e-01] [ 8.76191258e-02 -1.32445319e-02 9.96065997e-01 5.98037453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68255784400003 meters Centerline goodness : 0.142055 with order 3 Centerline is valid? [False, False] Translation: X:-15.68, Y:0.17, Z:0.60 [[ 9.96097193e-01 -6.18748519e-03 -8.80459900e-02 -1.56818547e+01] [ 7.36829166e-03 9.99887140e-01 1.30925642e-02 1.66665409e-01] [ 8.79550431e-02 -1.36902150e-02 9.96030365e-01 5.97396871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74255784400003 meters Centerline goodness : 0.146071 with order 3 Centerline is valid? [False, False] Translation: X:-15.68, Y:0.16, Z:0.60 [[ 9.96056959e-01 -5.87001867e-03 -8.85216230e-02 -1.56799972e+01] [ 7.10473809e-03 9.99881735e-01 1.36395981e-02 1.64363651e-01] [ 8.84310893e-02 -1.42147396e-02 9.95980865e-01 5.96545682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80255784400003 meters Centerline goodness : 0.122565 with order 3 Centerline is valid? [False, False] Translation: X:-15.70, Y:0.16, Z:0.59 [[ 9.96154912e-01 3.15049666e-03 -8.75526407e-02 -1.57024278e+01] [-2.04188996e-03 9.99916645e-01 1.27488484e-02 1.61556734e-01] [ 8.75855079e-02 -1.25210551e-02 9.96078311e-01 5.93865528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.862557844 meters Centerline goodness : 0.222407 with order 3 Centerline is valid? [False, False] Translation: X:-15.70, Y:0.16, Z:0.59 [[ 9.96087254e-01 3.50780555e-03 -8.83055951e-02 -1.57006577e+01] [-2.38632806e-03 9.99915199e-01 1.28023272e-02 1.62586688e-01] [ 8.83430148e-02 -1.25415089e-02 9.96011156e-01 5.94114288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.922557844 meters Centerline goodness : 0.160526 with order 1 Centerline is valid? [False, False] Translation: X:-15.75, Y:0.16, Z:0.59 [[ 9.95845951e-01 5.75395013e-03 -9.08720778e-02 -1.57478100e+01] [-4.57565908e-03 9.99902809e-01 1.31694945e-02 1.64941126e-01] [ 9.09390224e-02 -1.26989881e-02 9.95775492e-01 5.92262638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.982557844 meters Centerline goodness : 0.134326 with order 3 Centerline is valid? [False, False] Translation: X:-15.73, Y:0.16, Z:0.60 [[ 9.95982144e-01 1.39130949e-02 -8.84646471e-02 -1.57302329e+01] [-1.28886129e-02 9.99843223e-01 1.21414074e-02 1.59747439e-01] [ 8.86197024e-02 -1.09524384e-02 9.96005317e-01 5.95350595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.042557844 meters Centerline goodness : 0.144124 with order 3 Centerline is valid? [False, False] Translation: X:-15.77, Y:0.16, Z:0.59 [[ 9.96076641e-01 1.86647124e-02 -8.65040731e-02 -1.57702655e+01] [-1.75607005e-02 9.99754574e-01 1.35060468e-02 1.59904094e-01] [ 8.67349292e-02 -1.19339856e-02 9.96159943e-01 5.91260916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.102557844 meters Centerline goodness : 0.198174 with order 3 Centerline is valid? [False, False] Translation: X:-15.77, Y:0.16, Z:0.59 [[ 9.96086323e-01 1.88549793e-02 -8.63511783e-02 -1.57707750e+01] [-1.77543514e-02 9.99751285e-01 1.34963204e-02 1.60128095e-01] [ 8.65841743e-02 -1.19103910e-02 9.96173340e-01 5.91317069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.162557844 meters Centerline goodness : 0.140783 with order 3 Centerline is valid? [False, False] Translation: X:-15.81, Y:0.16, Z:0.59 [[ 9.96252829e-01 2.26013131e-02 -8.34834157e-02 -1.58136464e+01] [-2.13604165e-02 9.99648127e-01 1.57274936e-02 1.60396556e-01] [ 8.38095022e-02 -1.38853195e-02 9.96385049e-01 5.86215115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.222557844 meters Centerline goodness : 0.138756 with order 3 Centerline is valid? [False, False] Translation: X:-15.83, Y:0.17, Z:0.58 [[ 9.96459552e-01 1.52303168e-02 -8.26825189e-02 -1.58320968e+01] [-1.39195625e-02 9.99768514e-01 1.64062511e-02 1.66148996e-01] [ 8.29132514e-02 -1.51972612e-02 9.96440884e-01 5.82752462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.282557844 meters Centerline goodness : 0.141062 with order 3 Centerline is valid? [False, False] Translation: X:-15.83, Y:0.17, Z:0.58 [[ 9.96343646e-01 1.59075845e-02 -8.39421654e-02 -1.58280336e+01] [-1.45627678e-02 9.99756006e-01 1.66088398e-02 1.67462763e-01] [ 8.41858906e-02 -1.53256818e-02 9.96332203e-01 5.81432870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.342557844 meters Centerline goodness : 0.129300 with order 3 Centerline is valid? [False, False] Translation: X:-15.83, Y:0.17, Z:0.58 [[ 9.96332889e-01 1.59491274e-02 -8.40618765e-02 -1.58275376e+01] [-1.46380761e-02 9.99761783e-01 1.61896381e-02 1.69716079e-01] [ 8.43000622e-02 -1.48997647e-02 9.96329010e-01 5.80944666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.402557844 meters Centerline goodness : 0.151158 with order 2 Centerline is valid? [False, False] Translation: X:-15.83, Y:0.17, Z:0.58 [[ 9.96297582e-01 1.63160142e-02 -8.44092217e-02 -1.58266717e+01] [-1.50118193e-02 9.99758290e-01 1.60625960e-02 1.71570691e-01] [ 8.46508967e-02 -1.47359896e-02 9.96301699e-01 5.80648781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.462557844 meters Centerline goodness : 0.168694 with order 2 Centerline is valid? [False, False] Translation: X:-15.83, Y:0.17, Z:0.58 [[ 9.96352334e-01 1.70605551e-02 -8.36119800e-02 -1.58287289e+01] [-1.57606062e-02 9.99744826e-01 1.61829074e-02 1.72413485e-01] [ 8.38667338e-02 -1.48061021e-02 9.96366976e-01 5.80079298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.522557844 meters Centerline goodness : 0.203250 with order 1 Centerline is valid? [False, False] Translation: X:-15.83, Y:0.17, Z:0.58 [[ 9.96433043e-01 1.76870229e-02 -8.25127840e-02 -1.58321375e+01] [-1.63965925e-02 9.99732847e-01 1.62907028e-02 1.72963128e-01] [ 8.27788745e-02 -1.48796661e-02 9.96456850e-01 5.80262346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.582557844 meters Centerline goodness : 0.244753 with order 1 Centerline is valid? [False, False] Translation: X:-15.83, Y:0.18, Z:0.58 [[ 9.96402117e-01 1.81686486e-02 -8.27811638e-02 -1.58311486e+01] [-1.69089322e-02 9.99730710e-01 1.58932306e-02 1.76231740e-01] [ 8.30476302e-02 -1.44363075e-02 9.96441009e-01 5.79228288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.642557844 meters Centerline goodness : 0.184953 with order 2 Centerline is valid? [False, False] Translation: X:-15.83, Y:0.18, Z:0.58 [[ 9.96353877e-01 1.85081935e-02 -8.32850489e-02 -1.58300374e+01] [-1.73115429e-02 9.99736606e-01 1.50674779e-02 1.82361381e-01] [ 8.35419840e-02 -1.35707473e-02 9.96411848e-01 5.78598970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.702557844 meters SLAMing on 419.762557844 meters Centerline goodness : 0.231791 with order 1 Centerline is valid? [False, False] Translation: X:-15.83, Y:0.19, Z:0.58 [[ 9.96323745e-01 1.78771167e-02 -8.37818851e-02 -1.58283519e+01] [-1.67607619e-02 9.99761383e-01 1.40090646e-02 1.86042094e-01] [ 8.40123350e-02 -1.25533155e-02 9.96385639e-01 5.77911119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.822557844 meters Centerline goodness : 0.210712 with order 3 Centerline is valid? [False, False] Translation: X:-15.85, Y:0.19, Z:0.58 [[ 9.96404579e-01 7.53313268e-03 -8.43870031e-02 -1.58485199e+01] [-6.35422847e-03 9.99878557e-01 1.42300999e-02 1.87984698e-01] [ 8.44839520e-02 -1.36427224e-02 9.96331440e-01 5.76459901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.882557844 meters Centerline goodness : 0.244918 with order 3 Centerline is valid? [False, False] Translation: X:-15.85, Y:0.18, Z:0.58 [[ 9.96409886e-01 7.77877122e-03 -8.43020097e-02 -1.58488649e+01] [-6.55336200e-03 9.99868955e-01 1.48029350e-02 1.84808599e-01] [ 8.44061109e-02 -1.41973292e-02 9.96330289e-01 5.76767430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.942557844 meters Centerline goodness : 0.246488 with order 3 Centerline is valid? [False, False] Translation: X:-15.85, Y:0.18, Z:0.58 [[ 9.96536418e-01 5.32133296e-03 -8.29870546e-02 -1.58538056e+01] [-4.28141878e-03 9.99910135e-01 1.27039697e-02 1.80843876e-01] [ 8.30471991e-02 -1.23046661e-02 9.96469647e-01 5.78393330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.002557844 meters Centerline goodness : 0.264650 with order 3 Centerline is valid? [False, False] Translation: X:-15.85, Y:0.18, Z:0.58 [[ 9.96539987e-01 5.83824982e-03 -8.29094072e-02 -1.58541442e+01] [-4.71166425e-03 9.99893987e-01 1.37773156e-02 1.75375372e-01] [ 8.29810531e-02 -1.33390046e-02 9.96461849e-01 5.78624151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.062557844 meters Centerline goodness : 0.247082 with order 3 Centerline is valid? [False, False] Translation: X:-15.87, Y:0.16, Z:0.58 [[ 9.96421509e-01 1.38804361e-02 -8.33757196e-02 -1.58727427e+01] [-1.28489216e-02 9.99834288e-01 1.28957703e-02 1.64446898e-01] [ 8.35409022e-02 -1.17783349e-02 9.96434739e-01 5.75455250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.122557844 meters Centerline goodness : 0.216058 with order 3 Centerline is valid? [False, False] Translation: X:-15.87, Y:0.16, Z:0.58 [[ 9.96472649e-01 1.19102571e-02 -8.30686806e-02 -1.58742283e+01] [-1.09990349e-02 9.99874311e-01 1.14185352e-02 1.57251362e-01] [ 8.31942375e-02 -1.04645827e-02 9.96478405e-01 5.75583548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18255784400003 meters Centerline goodness : 0.222038 with order 1 Centerline is valid? [False, False] Translation: X:-15.88, Y:0.15, Z:0.58 [[ 9.96509805e-01 1.25511941e-02 -8.25268241e-02 -1.58756889e+01] [-1.15882221e-02 9.99859190e-01 1.21372636e-02 1.54347690e-01] [ 8.26675407e-02 -1.11385630e-02 9.96514932e-01 5.75311196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24255784400003 meters SLAMing on 420.30255784400003 meters Centerline goodness : 0.089858 with order 1 Centerline is valid? [False, False] Translation: X:-15.87, Y:0.14, Z:0.57 [[ 9.96406622e-01 1.13609673e-02 -8.39331455e-02 -1.58696014e+01] [-1.04204402e-02 9.99878010e-01 1.16352816e-02 1.43274241e-01] [ 8.40550945e-02 -1.07188513e-02 9.96403456e-01 5.72274310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.362557844 meters Centerline goodness : 0.105844 with order 2 Centerline is valid? [False, False] Translation: X:-15.87, Y:0.14, Z:0.57 [[ 9.96444230e-01 7.77905751e-03 -8.38950673e-02 -1.58703548e+01] [-7.04189481e-03 9.99933989e-01 9.07906245e-03 1.36958470e-01] [ 8.39601559e-02 -8.45599916e-03 9.96433233e-01 5.72961418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.422557844 meters Centerline goodness : 0.094657 with order 1 Centerline is valid? [False, False] Translation: X:-15.87, Y:0.13, Z:0.57 [[ 9.96490301e-01 4.75284183e-03 -8.35732631e-02 -1.58726704e+01] [-4.17891783e-03 9.99966481e-01 7.04090537e-03 1.30366606e-01] [ 8.36039261e-02 -6.66694812e-03 9.96476761e-01 5.74449585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.482557844 meters Centerline goodness : 0.126593 with order 1 Centerline is valid? [False, False] Translation: X:-15.87, Y:0.12, Z:0.57 [[ 9.96502207e-01 1.26854627e-03 -8.35568193e-02 -1.58721939e+01] [-8.73620647e-04 9.99988276e-01 4.76282480e-03 1.22158202e-01] [ 8.35618815e-02 -4.67316846e-03 9.96491632e-01 5.73916328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.542557844 meters Centerline goodness : 0.184666 with order 1 Centerline is valid? [False, False] Translation: X:-15.87, Y:0.12, Z:0.57 [[ 9.96498058e-01 1.78624440e-03 -8.35968322e-02 -1.58717675e+01] [-1.30682022e-03 9.99982388e-01 5.78932385e-03 1.17448876e-01] [ 8.36057010e-02 -5.65980394e-03 9.96482841e-01 5.73535538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.602557844 meters Centerline goodness : 0.166211 with order 1 Centerline is valid? [False, False] Translation: X:-15.87, Y:0.11, Z:0.57 [[ 9.96493099e-01 2.30397844e-03 -8.36432564e-02 -1.58715155e+01] [-1.74583691e-03 9.99975725e-01 6.74541028e-03 1.12328471e-01] [ 8.36567672e-02 -6.57572731e-03 9.96472932e-01 5.73459723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.662557844 meters Centerline goodness : 0.161263 with order 1 Centerline is valid? [False, False] Translation: X:-15.87, Y:0.11, Z:0.57 [[ 9.96557958e-01 3.65708785e-03 -8.28182414e-02 -1.58738939e+01] [-2.99434275e-03 9.99962507e-01 8.12519829e-03 1.08551168e-01] [ 8.28448509e-02 -7.84924482e-03 9.96531545e-01 5.73690998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.722557844 meters Centerline goodness : 0.179618 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.10, Z:0.57 [[ 9.96593257e-01 1.22717201e-02 -8.15554092e-02 -1.58963563e+01] [-1.16701346e-02 9.99901096e-01 7.84900661e-03 1.00679975e-01] [ 8.16436638e-02 -6.87050445e-03 9.96637902e-01 5.71086505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.782557844 meters Centerline goodness : 0.171719 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.10, Z:0.57 [[ 9.96601872e-01 1.30153854e-02 -8.13345501e-02 -1.58970945e+01] [-1.23869757e-02 9.99889441e-01 8.22606540e-03 1.00368367e-01] [ 8.14326232e-02 -7.19062308e-03 9.96652910e-01 5.71141102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.842557844 meters Centerline goodness : 0.168029 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.10, Z:0.57 [[ 9.96557716e-01 1.33476726e-02 -8.18202866e-02 -1.58956488e+01] [-1.27301390e-02 9.99886447e-01 8.06448684e-03 1.02330993e-01] [ 8.19186378e-02 -6.99514296e-03 9.96614471e-01 5.70654767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.902557844 meters Centerline goodness : 0.160228 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.10, Z:0.57 [[ 9.96563439e-01 1.32833899e-02 -8.17610209e-02 -1.58957347e+01] [-1.26870708e-02 9.99889025e-01 7.80867081e-03 1.03579176e-01] [ 8.18556731e-02 -6.74452798e-03 9.96621373e-01 5.70420318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.962557844 meters Centerline goodness : 0.167381 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.10, Z:0.57 [[ 9.96633425e-01 4.19395190e-03 -8.18793414e-02 -1.59182012e+01] [-3.49564458e-03 9.99956305e-01 8.66998198e-03 1.04146861e-01] [ 8.19121252e-02 -8.35457276e-03 9.96604538e-01 5.68438944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.022557844 meters Centerline goodness : 0.169799 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.10, Z:0.57 [[ 9.96636480e-01 1.14809147e-04 -8.19494563e-02 -1.59178001e+01] [ 3.23302380e-04 9.99985728e-01 5.33282921e-03 1.01173098e-01] [ 8.19488990e-02 -5.34138659e-03 9.96622219e-01 5.68231544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.082557844 meters Centerline goodness : 0.168781 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.10, Z:0.57 [[ 9.96627783e-01 2.25351668e-04 -8.20549285e-02 -1.59173664e+01] [ 2.43214690e-04 9.99983723e-01 5.70035860e-03 9.94093547e-02] [ 8.20548775e-02 -5.70109272e-03 9.96611506e-01 5.68068380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.142557844 meters Centerline goodness : 0.164811 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.10, Z:0.57 [[ 9.96595404e-01 2.13727986e-04 -8.24472814e-02 -1.59156322e+01] [ 2.44356169e-04 9.99984591e-01 5.54595518e-03 1.00460791e-01] [ 8.24471964e-02 -5.54721995e-03 9.96579996e-01 5.67016633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.202557844 meters Centerline goodness : 0.166645 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.10, Z:0.57 [[ 9.96579164e-01 1.09671971e-04 -8.26435632e-02 -1.59151310e+01] [ 3.32194715e-04 9.99985725e-01 5.33288644e-03 1.01375757e-01] [ 8.26429683e-02 -5.34209727e-03 9.96564901e-01 5.66970584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.262557844 meters Centerline goodness : 0.154993 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.10, Z:0.57 [[ 9.96589923e-01 6.89467797e-06 -8.25137912e-02 -1.59156258e+01] [ 4.18148056e-04 9.99986734e-01 5.13388997e-03 1.02218986e-01] [ 8.25127320e-02 -5.15088599e-03 9.96576699e-01 5.67151926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.322557844 meters Centerline goodness : 0.159827 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:0.10, Z:0.57 [[ 9.96565151e-01 -1.74417758e-04 -8.28122593e-02 -1.59144076e+01] [ 5.85023609e-04 9.99987656e-01 4.93403439e-03 1.02438610e-01] [ 8.28103765e-02 -4.96553385e-03 9.96552951e-01 5.66500492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.382557844 meters Centerline goodness : 0.163860 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:0.10, Z:0.57 [[ 9.96544578e-01 -1.71856524e-04 -8.30594653e-02 -1.59135490e+01] [ 5.85419638e-04 9.99987554e-01 4.95479208e-03 1.02723999e-01] [ 8.30575800e-02 -4.98629583e-03 9.96532275e-01 5.66187114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.442557844 meters Centerline goodness : 0.114646 with order 2 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.10, Z:0.57 [[ 9.96639492e-01 -2.43231380e-03 -8.18767806e-02 -1.59191223e+01] [ 2.68703617e-03 9.99991887e-01 3.00100094e-03 1.01681023e-01] [ 8.18688170e-02 -3.21092192e-03 9.96637942e-01 5.68490992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.502557844 meters Centerline goodness : 0.161381 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.10, Z:0.57 [[ 9.96581278e-01 -2.45996131e-03 -8.25815067e-02 -1.59172960e+01] [ 2.75304246e-03 9.99990310e-01 3.43531036e-03 9.90396418e-02] [ 8.25722557e-02 -3.65091639e-03 9.96578393e-01 5.68511223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.562557844 meters Centerline goodness : 0.176173 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.10, Z:0.57 [[ 9.96623817e-01 -2.32177629e-03 -8.20705646e-02 -1.59191290e+01] [ 2.65275772e-03 9.99988782e-01 3.92407773e-03 9.67062900e-02] [ 8.20605331e-02 -4.12854265e-03 9.96618796e-01 5.69364575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.622557844 meters Centerline goodness : 0.169850 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.09, Z:0.57 [[ 9.97100871e-01 2.30755218e-03 -7.60560919e-02 -1.59035193e+01] [-2.24213108e-03 9.99997039e-01 9.45545493e-04 9.38321758e-02] [ 7.60580486e-02 -7.72276507e-04 9.97103092e-01 5.72069010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68255784400003 meters Centerline goodness : 0.168258 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.09, Z:0.57 [[ 9.97132555e-01 2.48666087e-03 -7.56338828e-02 -1.59049803e+01] [-2.39652215e-03 9.99996306e-01 1.28251289e-03 9.22501064e-02] [ 7.56367925e-02 -1.09757708e-03 9.97134831e-01 5.72596993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74255784400003 meters Centerline goodness : 0.168421 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.09, Z:0.57 [[ 9.97116226e-01 2.71414081e-03 -7.58410492e-02 -1.59044119e+01] [-2.59364659e-03 9.99995213e-01 1.68722238e-03 9.02572823e-02] [ 7.58452655e-02 -1.48565193e-03 9.97118493e-01 5.72549818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80255784400003 meters Centerline goodness : 0.157500 with order 1 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.09, Z:0.57 [[ 9.97113644e-01 2.79843723e-03 -7.58719346e-02 -1.59042348e+01] [-2.66913859e-03 9.99994808e-01 1.80551873e-03 8.98218831e-02] [ 7.58765933e-02 -1.59779465e-03 9.97115936e-01 5.72388960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.862557844 meters Centerline goodness : 0.170248 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:0.09, Z:0.57 [[ 9.97141555e-01 -5.48438302e-04 -7.55540801e-02 -1.59051003e+01] [ 4.59860833e-04 9.99999186e-01 -1.18976381e-03 8.68668100e-02] [ 7.55546712e-02 1.15161857e-03 9.97140996e-01 5.72411093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.922557844 meters Centerline goodness : 0.167799 with order 1 Centerline is valid? [False, False] Translation: X:-15.91, Y:0.08, Z:0.57 [[ 9.97140727e-01 -2.18099174e-04 -7.55666811e-02 -1.59050159e+01] [ 1.83077298e-04 9.99999873e-01 -4.70383443e-04 8.33626594e-02] [ 7.55667741e-02 4.55203945e-04 9.97140640e-01 5.72373680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.982557844 meters Centerline goodness : 0.135779 with order 3 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.08, Z:0.57 [[ 9.97125783e-01 2.07726970e-04 -7.57636495e-02 -1.59041724e+01] [-1.95519012e-04 9.99999967e-01 1.68549369e-04 8.02738916e-02] [ 7.57636820e-02 -1.53251687e-04 9.97125790e-01 5.71949874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.042557844 meters Centerline goodness : 0.143697 with order 3 Centerline is valid? [False, False] Translation: X:-15.88, Y:0.08, Z:0.57 [[ 9.97041639e-01 9.98240479e-03 -7.62123494e-02 -1.58819920e+01] [-1.00011450e-02 9.99949978e-01 1.35771901e-04 7.71225105e-02] [ 7.62098924e-02 6.26840515e-04 9.97091600e-01 5.73724348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.102557844 meters Centerline goodness : 0.166884 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.07, Z:0.57 [[ 9.96725581e-01 9.74346864e-03 -8.02694252e-02 -1.59228795e+01] [-9.75027943e-03 9.99952418e-01 3.07116786e-04 7.48863174e-02] [ 8.02685982e-02 4.76538169e-04 9.96773156e-01 5.69874223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.162557844 meters Centerline goodness : 0.138161 with order 3 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.08, Z:0.57 [[ 9.96690563e-01 6.39151719e-03 -8.10374658e-02 -1.59202939e+01] [-6.66523275e-03 9.99972958e-01 -3.10757776e-03 7.54846819e-02] [ 8.10154123e-02 3.63742700e-03 9.96706212e-01 5.68906081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.222557844 meters Centerline goodness : 0.300512 with order 1 Centerline is valid? [False, False] Translation: X:-15.92, Y:0.07, Z:0.57 [[ 9.96699813e-01 6.35704778e-03 -8.09263341e-02 -1.59208114e+01] [-6.61180888e-03 9.99973993e-01 -2.88047422e-03 7.41541736e-02] [ 8.09059182e-02 3.40603757e-03 9.96715923e-01 5.69246562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.282557844 meters Centerline goodness : 0.135719 with order 3 Centerline is valid? [False, False] Translation: X:-15.90, Y:0.08, Z:0.57 [[ 9.96789668e-01 -2.67885849e-03 -8.00198757e-02 -1.59011021e+01] [ 2.48814679e-03 9.99993822e-01 -2.48291964e-03 7.66393888e-02] [ 8.00260327e-02 2.27584745e-03 9.96790176e-01 5.71486551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.342557844 meters Centerline goodness : 0.409281 with order 1 Centerline is valid? [False, False] Translation: X:-15.95, Y:0.07, Z:0.57 [[ 9.96508012e-01 -3.96019658e-03 -8.34032308e-02 -1.59451537e+01] [ 3.74536747e-03 9.99989254e-01 -2.73209236e-03 7.18892569e-02] [ 8.34131541e-02 2.41017618e-03 9.96512136e-01 5.69260594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.402557844 meters Centerline goodness : 0.135688 with order 3 Centerline is valid? [False, False] Translation: X:-15.94, Y:0.07, Z:0.57 [[ 9.96490814e-01 -3.96594758e-03 -8.36081883e-02 -1.59445591e+01] [ 3.75702683e-03 9.99989415e-01 -2.65599442e-03 7.12310671e-02] [ 8.36178369e-02 2.33255584e-03 9.96495166e-01 5.69172754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.462557844 meters Centerline goodness : 0.130163 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.07, Z:0.57 [[ 9.96487410e-01 4.64281799e-03 -8.36139081e-02 -1.59666869e+01] [-4.92372423e-03 9.99982906e-01 -3.15366888e-03 6.77899027e-02] [ 8.35978368e-02 3.55428316e-03 9.96493236e-01 5.67325779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.522557844 meters Centerline goodness : 0.124758 with order 2 Centerline is valid? [False, False] Translation: X:-15.95, Y:0.07, Z:0.57 [[ 9.96697799e-01 1.35899067e-02 -8.00550535e-02 -1.59469741e+01] [-1.39391398e-02 9.99895605e-01 -3.80515543e-03 7.13037433e-02] [ 7.99949844e-02 4.90848863e-03 9.96783181e-01 5.68976070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.582557844 meters Centerline goodness : 0.165969 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96781552e-01 4.79374666e-03 -8.00222339e-02 -1.59690649e+01] [-5.07639556e-03 9.99981574e-01 -3.32906376e-03 7.65335215e-02] [ 8.00048007e-02 3.72457385e-03 9.96787520e-01 5.66894809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.642557844 meters Centerline goodness : 0.165040 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96756290e-01 4.63710735e-03 -8.03454722e-02 -1.59677006e+01] [-4.94738918e-03 9.99981052e-01 -3.66320331e-03 7.79909660e-02] [ 8.03269632e-02 4.04882127e-03 9.96760345e-01 5.66071777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.702557844 meters Centerline goodness : 0.296660 with order 2 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96760210e-01 4.63197014e-03 -8.02971251e-02 -1.59681209e+01] [-4.96511317e-03 9.99979874e-01 -3.94970972e-03 7.99115046e-02] [ 8.02772141e-02 4.33559781e-03 9.96763147e-01 5.66369576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.762557844 meters Centerline goodness : 0.224333 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96784805e-01 4.87651181e-03 -7.99766948e-02 -1.59690202e+01] [-5.22573320e-03 9.99977702e-01 -4.15781596e-03 8.23015578e-02] [ 7.99546358e-02 4.56238464e-03 9.96788062e-01 5.66349425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.822557844 meters Centerline goodness : 0.288791 with order 2 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96808693e-01 4.83488957e-03 -7.96809438e-02 -1.59700804e+01] [-5.18507126e-03 9.99977786e-01 -4.18847868e-03 8.20765879e-02] [ 7.96589229e-02 4.58826333e-03 9.96811619e-01 5.66738620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.882557844 meters Centerline goodness : 0.161515 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96801164e-01 4.95137619e-03 -7.97679326e-02 -1.59696818e+01] [-5.28098539e-03 9.99978366e-01 -3.92166758e-03 8.08606769e-02] [ 7.97467892e-02 4.33037609e-03 9.96805747e-01 5.66493840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.942557844 meters Centerline goodness : 0.148376 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96789138e-01 4.92420614e-03 -7.99197551e-02 -1.59692909e+01] [-5.25841991e-03 9.99978286e-01 -3.97194200e-03 8.07838854e-02] [ 7.98984610e-02 4.37944027e-03 9.96793387e-01 5.66497043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.002557844 meters Centerline goodness : 0.322773 with order 2 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96769197e-01 5.46157238e-03 -8.01332538e-02 -1.59686154e+01] [-5.80938810e-03 9.99974687e-01 -4.10796977e-03 8.34813502e-02] [ 8.01087894e-02 4.56022290e-03 9.96775695e-01 5.66084796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.062557844 meters Centerline goodness : 0.158376 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.09, Z:0.57 [[ 9.96804105e-01 5.87377670e-03 -7.96685380e-02 -1.59698585e+01] [-6.24716142e-03 9.99970637e-01 -4.43828794e-03 8.72501298e-02] [ 7.96401292e-02 4.92180585e-03 9.96811530e-01 5.65856194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.122557844 meters Centerline goodness : 0.159615 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.09, Z:0.57 [[ 9.96817342e-01 5.73485497e-03 -7.95128825e-02 -1.59707869e+01] [-6.13098568e-03 9.99969977e-01 -4.73872968e-03 8.87094676e-02] [ 7.94833193e-02 5.21114027e-03 9.96822575e-01 5.66554963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18255784400003 meters Centerline goodness : 0.113581 with order 2 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.09, Z:0.57 [[ 9.96809234e-01 5.66831572e-03 -7.96192237e-02 -1.59707418e+01] [-6.06094338e-03 9.99970632e-01 -4.69051395e-03 8.82593700e-02] [ 7.95902981e-02 5.15811523e-03 9.96814315e-01 5.66888347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24255784400003 meters Centerline goodness : 0.148168 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.09, Z:0.57 [[ 9.96814150e-01 1.76112838e-03 -7.97398803e-02 -1.59699758e+01] [-2.41466614e-03 9.99964278e-01 -8.10018658e-03 8.73091953e-02] [ 7.97227663e-02 8.26692579e-03 9.96782794e-01 5.66378027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30255784400003 meters Centerline goodness : 0.146727 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96841132e-01 1.68662022e-03 -7.94034867e-02 -1.59713677e+01] [-2.30271725e-03 9.99967948e-01 -7.66814075e-03 8.42494752e-02] [ 7.93880084e-02 7.82676188e-03 9.96813065e-01 5.67256184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.362557844 meters Centerline goodness : 0.393279 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96810551e-01 1.90341581e-03 -7.97815904e-02 -1.59702936e+01] [-2.47065332e-03 9.99972365e-01 -7.01176896e-03 8.07032608e-02] [ 7.97660394e-02 7.18651794e-03 9.96787707e-01 5.67190933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.422557844 meters Centerline goodness : 0.321801 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96826491e-01 2.07765806e-03 -7.95778220e-02 -1.59706552e+01] [-2.61258909e-03 9.99974684e-01 -6.61858469e-03 7.86900106e-02] [ 7.95620562e-02 6.80548471e-03 9.96806684e-01 5.66949099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.482557844 meters Centerline goodness : 0.145114 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96852580e-01 2.37758331e-03 -7.92419180e-02 -1.59717087e+01] [-2.87818752e-03 9.99976614e-01 -6.20379921e-03 7.71020601e-02] [ 7.92253148e-02 6.41234635e-03 9.96836111e-01 5.67217950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.542557844 meters Centerline goodness : 0.147291 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96774738e-01 2.70133740e-03 -8.02048901e-02 -1.59686210e+01] [-3.22312881e-03 9.99974472e-01 -6.37697942e-03 7.90456555e-02] [ 8.01856163e-02 6.61492268e-03 9.96758000e-01 5.66133800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.602557844 meters Centerline goodness : 0.150710 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96739209e-01 6.44685607e-03 -8.04324999e-02 -1.59672876e+01] [-6.75763397e-03 9.99970715e-01 -3.59222278e-03 8.39903779e-02] [ 8.04069859e-02 4.12404269e-03 9.96753585e-01 5.65056321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.662557844 meters Centerline goodness : 0.150539 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.09, Z:0.56 [[ 9.96749290e-01 6.30598495e-03 -8.03186610e-02 -1.59675815e+01] [-6.64249369e-03 9.99970243e-01 -3.92316758e-03 8.56248586e-02] [ 8.02915315e-02 4.44393070e-03 9.96761517e-01 5.64971851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.722557844 meters Centerline goodness : 0.141168 with order 2 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.09, Z:0.57 [[ 9.96806667e-01 3.12387153e-03 -7.97916671e-02 -1.59721683e+01] [-3.67384681e-03 9.99970492e-01 -6.74676525e-03 8.56222825e-02] [ 7.97682365e-02 7.01836294e-03 9.96788729e-01 5.68151507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.782557844 meters Centerline goodness : 0.166067 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96824826e-01 2.57006080e-03 -7.95842956e-02 -1.59731619e+01] [-3.10936162e-03 9.99973032e-01 -6.65328950e-03 8.37687182e-02] [ 7.95650501e-02 6.87962051e-03 9.96805936e-01 5.68929435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.842557844 meters Centerline goodness : 0.160263 with order 1 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.08, Z:0.57 [[ 9.96814672e-01 -1.49186371e-03 -7.97388474e-02 -1.59725383e+01] [ 7.19267418e-04 9.99952531e-01 -9.71692719e-03 7.99803727e-02] [ 7.97495586e-02 9.62862203e-03 9.96768427e-01 5.68867572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.902557844 meters Centerline goodness : 0.306772 with order 2 Centerline is valid? [False, False] Translation: X:-15.98, Y:0.08, Z:0.57 [[ 9.96856911e-01 -4.19659650e-03 -7.91118677e-02 -1.59764155e+01] [ 3.27999760e-03 9.99926027e-01 -1.17125005e-02 7.52440691e-02] [ 7.91551682e-02 1.14162003e-02 9.96796935e-01 5.71154255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.962557844 meters Centerline goodness : 0.163354 with order 1 Centerline is valid? [False, False] Translation: X:-15.98, Y:0.07, Z:0.57 [[ 9.96869928e-01 -3.68359961e-03 -7.89732742e-02 -1.59771705e+01] [ 2.84773123e-03 9.99938760e-01 -1.06942052e-02 7.06309013e-02] [ 7.90078310e-02 1.04358369e-02 9.96819370e-01 5.71779511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.022557844 meters Centerline goodness : 0.133726 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:0.07, Z:0.57 [[ 9.96840109e-01 -3.39061263e-03 -7.93618329e-02 -1.59759287e+01] [ 2.57737334e-03 9.99943142e-01 -1.03474264e-02 6.88576196e-02] [ 7.93924047e-02 1.01101846e-02 9.96792170e-01 5.71372592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.082557844 meters Centerline goodness : 0.139934 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:0.07, Z:0.57 [[ 9.96851088e-01 -3.12884187e-03 -7.92345742e-02 -1.59763324e+01] [ 2.34487398e-03 9.99947396e-01 -9.98537704e-03 6.75154170e-02] [ 7.92616487e-02 9.76813888e-03 9.96805986e-01 5.71435719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.142557844 meters Centerline goodness : 0.133181 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:0.06, Z:0.57 [[ 9.96903647e-01 -2.67971706e-03 -7.85871336e-02 -1.59788625e+01] [ 1.95430143e-03 9.99954787e-01 -9.30617577e-03 6.49525905e-02] [ 7.86085184e-02 9.12377761e-03 9.96863811e-01 5.72641870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.202557844 meters Centerline goodness : 0.135189 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:0.06, Z:0.57 [[ 9.96897855e-01 -2.57773368e-03 -7.86639859e-02 -1.59785243e+01] [ 1.86704967e-03 9.99956791e-01 -9.10663855e-03 6.38419964e-02] [ 7.86840614e-02 8.93151886e-03 9.96859592e-01 5.72447876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.262557844 meters Centerline goodness : 0.133782 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:0.06, Z:0.57 [[ 9.96862341e-01 -2.29485755e-03 -7.91214648e-02 -1.59764450e+01] [ 1.64746605e-03 9.99964639e-01 -8.24655534e-03 5.88551156e-02] [ 7.91375917e-02 8.09033053e-03 9.96830872e-01 5.71288184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.322557844 meters Centerline goodness : 0.144753 with order 2 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.05, Z:0.57 [[ 9.96779479e-01 -2.49832333e-03 -8.01525343e-02 -1.59727620e+01] [ 1.86732053e-03 9.99966682e-01 -7.94651491e-03 5.17984068e-02] [ 8.01697168e-02 7.77125251e-03 9.96750934e-01 5.70217153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.382557844 meters Centerline goodness : 0.131779 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.05, Z:0.57 [[ 9.96784674e-01 -2.33229287e-03 -8.00929116e-02 -1.59728272e+01] [ 1.72737143e-03 9.99969466e-01 -7.62120240e-03 5.01749688e-02] [ 8.01082409e-02 7.45834755e-03 9.96758267e-01 5.70095574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.442557844 meters Centerline goodness : 0.161031 with order 3 Centerline is valid? [False, False] Translation: X:-15.97, Y:0.05, Z:0.57 [[ 9.96810882e-01 -2.18211279e-03 -7.97703181e-02 -1.59734288e+01] [ 1.59732807e-03 9.99971389e-01 -7.39393261e-03 4.91934089e-02] [ 7.97841701e-02 7.24293312e-03 9.96785848e-01 5.69731685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.502557844 meters Centerline goodness : 0.130813 with order 3 Centerline is valid? [False, False] Translation: X:-15.98, Y:0.05, Z:0.57 [[ 9.96854246e-01 -1.95382557e-03 -7.92325395e-02 -1.59754398e+01] [ 1.39538397e-03 9.99973801e-01 -7.10288925e-03 4.81884613e-02] [ 7.92443415e-02 6.96998549e-03 9.96830855e-01 5.70546148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.562557844 meters Centerline goodness : 0.124027 with order 3 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.04, Z:0.57 [[ 9.96576169e-01 -2.24170008e-03 -8.26493474e-02 -1.60191081e+01] [ 1.70204677e-03 9.99976776e-01 -6.59931119e-03 4.45465005e-02] [ 8.26622216e-02 6.43604321e-03 9.96556840e-01 5.67957221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.622557844 meters Centerline goodness : 0.130548 with order 3 Centerline is valid? [False, False] Translation: X:-16.00, Y:0.05, Z:0.57 [[ 9.96789880e-01 6.17063663e-03 -7.98239236e-02 -1.59995197e+01] [-6.82094001e-03 9.99945715e-01 -7.87661502e-03 4.61327750e-02] [ 7.97709866e-02 8.39580433e-03 9.96777859e-01 5.69729721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68255784400003 meters Centerline goodness : 0.123198 with order 3 Centerline is valid? [False, False] Translation: X:-16.00, Y:0.05, Z:0.57 [[ 9.96773707e-01 5.86076239e-03 -8.00489091e-02 -1.59989671e+01] [-6.57286353e-03 9.99941113e-01 -8.63522421e-03 4.98109742e-02] [ 7.99935863e-02 9.13351500e-03 9.96753533e-01 5.69684694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74255784400003 meters Centerline goodness : 0.133174 with order 3 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.06, Z:0.57 [[ 9.96595991e-01 3.76319075e-04 -8.24396062e-02 -1.60205399e+01] [-8.15088861e-04 9.99985682e-01 -5.28872740e-03 5.59593040e-02] [ 8.24364356e-02 5.33792013e-03 9.96582029e-01 5.68597001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80255784400003 meters Centerline goodness : 0.126721 with order 3 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.06, Z:0.57 [[ 9.96636003e-01 1.63956099e-04 -8.19551802e-02 -1.60221795e+01] [-6.48453750e-04 9.99982472e-01 -5.88515730e-03 5.93230999e-02] [ 8.19527788e-02 5.91850379e-03 9.96618640e-01 5.69005656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.862557844 meters Centerline goodness : 0.406419 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.06, Z:0.57 [[ 9.96670553e-01 -2.23443783e-04 -8.15337952e-02 -1.60235847e+01] [-3.37908142e-04 9.99976337e-01 -6.87103537e-03 6.48780407e-02] [ 8.15334011e-02 6.87570955e-03 9.96646893e-01 5.69290021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.922557844 meters Centerline goodness : 0.131296 with order 3 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.07, Z:0.57 [[ 9.96653812e-01 -5.00479689e-04 -8.17369492e-02 -1.60230682e+01] [-1.06455904e-04 9.99972459e-01 -7.42094724e-03 6.74370062e-02] [ 8.17384121e-02 7.40481674e-03 9.96626309e-01 5.69249560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.982557844 meters Centerline goodness : 0.140670 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.07, Z:0.57 [[ 9.96653268e-01 -8.27348957e-04 -8.17409233e-02 -1.60231432e+01] [ 1.66694919e-04 9.99967271e-01 -8.08878608e-03 7.05638390e-02] [ 8.17449403e-02 8.04808929e-03 9.96620787e-01 5.69265184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.042557844 meters Centerline goodness : 0.116069 with order 3 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.07, Z:0.57 [[ 9.96643642e-01 -9.84520228e-04 -8.18564637e-02 -1.60224028e+01] [ 2.84052659e-04 9.99963250e-01 -8.56847142e-03 7.34151342e-02] [ 8.18618913e-02 8.51646102e-03 9.96607295e-01 5.68538144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.102557844 meters Centerline goodness : 0.144126 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.08, Z:0.57 [[ 9.96646833e-01 -1.13759506e-03 -8.18156233e-02 -1.60222397e+01] [ 4.08633466e-04 9.99960079e-01 -8.92600171e-03 7.51232643e-02] [ 8.18225113e-02 8.86263873e-03 9.96607511e-01 5.68089028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.162557844 meters Centerline goodness : 0.370103 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.08, Z:0.57 [[ 9.96649065e-01 -1.32464570e-03 -8.17856164e-02 -1.60226840e+01] [ 5.65062379e-04 9.99956502e-01 -9.30994010e-03 7.67444573e-02] [ 8.17943912e-02 9.23252912e-03 9.96606461e-01 5.68554021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.222557844 meters Centerline goodness : 0.410254 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.08, Z:0.57 [[ 9.96640262e-01 -1.27763050e-03 -8.18935649e-02 -1.60225082e+01] [ 5.27183325e-04 9.99957681e-01 -9.18465699e-03 7.62451078e-02] [ 8.19018339e-02 9.11062603e-03 9.96598759e-01 5.68670334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.282557844 meters Centerline goodness : 0.405933 with order 1 Centerline is valid? [False, False] Translation: X:-16.02, Y:0.08, Z:0.57 [[ 9.96614369e-01 -1.40503304e-03 -8.22059992e-02 -1.60213141e+01] [ 6.50352314e-04 9.99957409e-01 -9.20641731e-03 7.58771104e-02] [ 8.22154332e-02 9.12178491e-03 9.96572835e-01 5.68175369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.342557844 meters Centerline goodness : 0.146263 with order 1 Centerline is valid? [False, False] Translation: X:-16.07, Y:0.07, Z:0.57 [[ 9.96456497e-01 -1.34585228e-03 -8.40989733e-02 -1.60693427e+01] [ 6.33845009e-04 9.99963738e-01 -8.49242825e-03 7.24874030e-02] [ 8.41073533e-02 8.40902960e-03 9.96421217e-01 5.66666831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.402557844 meters Centerline goodness : 0.140178 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:0.07, Z:0.57 [[ 9.96746191e-01 6.63815225e-03 -8.03303580e-02 -1.60523034e+01] [-7.48115682e-03 9.99920015e-01 -1.01978041e-02 7.48833172e-02] [ 8.02562383e-02 1.07655864e-02 9.96716127e-01 5.69647303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.462557844 meters Centerline goodness : 0.120725 with order 3 Centerline is valid? [False, False] Translation: X:-16.05, Y:0.08, Z:0.57 [[ 9.96804420e-01 6.67186520e-03 -7.96017235e-02 -1.60537504e+01] [-7.55106121e-03 9.99913716e-01 -1.07490344e-02 7.85620184e-02] [ 7.95231391e-02 1.13157625e-02 9.96768792e-01 5.68913284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.522557844 meters Centerline goodness : 0.105763 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:0.08, Z:0.57 [[ 9.96774451e-01 6.49217974e-03 -7.99909046e-02 -1.60522396e+01] [-7.40902670e-03 9.99910160e-01 -1.11704206e-02 8.05041737e-02] [ 7.99111978e-02 1.17270446e-02 9.96733002e-01 5.68086077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.582557844 meters Centerline goodness : 0.147618 with order 1 Centerline is valid? [False, False] Translation: X:-16.05, Y:0.08, Z:0.57 [[ 9.96760078e-01 6.44634839e-03 -8.01735060e-02 -1.60515747e+01] [-7.37405528e-03 9.99909182e-01 -1.12805467e-02 8.11171493e-02] [ 8.00935065e-02 1.18352024e-02 9.96717090e-01 5.67800604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.642557844 meters Centerline goodness : 0.141665 with order 1 Centerline is valid? [False, False] Translation: X:-16.07, Y:0.09, Z:0.57 [[ 9.96714178e-01 -2.28120665e-03 -8.09669294e-02 -1.60721248e+01] [ 1.43042450e-03 9.99943174e-01 -1.05642222e-02 8.62255488e-02] [ 8.09864276e-02 1.04136929e-02 9.96660802e-01 5.65326870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.702557844 meters Centerline goodness : 0.118385 with order 2 Centerline is valid? [False, False] Translation: X:-16.07, Y:0.09, Z:0.57 [[ 9.96734254e-01 -2.46743162e-03 -8.07139312e-02 -1.60727921e+01] [ 1.57725764e-03 9.99937253e-01 -1.10906515e-02 8.91140826e-02] [ 8.07362321e-02 1.09271256e-02 9.96675604e-01 5.65204617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.762557844 meters Centerline goodness : 0.177758 with order 3 Centerline is valid? [False, False] Translation: X:-16.07, Y:0.09, Z:0.56 [[ 9.96750970e-01 -2.72700303e-03 -8.04988683e-02 -1.60732940e+01] [ 1.78269769e-03 9.99928786e-01 -1.18002053e-02 9.28315379e-02] [ 8.05253149e-02 1.16183610e-02 9.96684849e-01 5.64993446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.822557844 meters Centerline goodness : 0.408080 with order 1 Centerline is valid? [False, False] Translation: X:-16.12, Y:0.10, Z:0.56 [[ 9.96471024e-01 -1.67497191e-03 -8.39207556e-02 -1.61163526e+01] [ 7.49329443e-04 9.99938553e-01 -1.10602426e-02 9.61219812e-02] [ 8.39341245e-02 1.09583270e-02 9.96411049e-01 5.61611591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.882557844 meters Centerline goodness : 0.151172 with order 1 Centerline is valid? [False, False] Translation: X:-16.12, Y:0.10, Z:0.56 [[ 9.96456411e-01 -1.93622796e-03 -8.40884765e-02 -1.61157709e+01] [ 9.61806978e-04 9.99931941e-01 -1.16270087e-02 9.89746244e-02] [ 8.41052661e-02 1.15049305e-02 9.96390456e-01 5.61309480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.942557844 meters Centerline goodness : 0.148267 with order 1 Centerline is valid? [False, False] Translation: X:-16.12, Y:0.10, Z:0.56 [[ 9.96566698e-01 -3.76473945e-03 -8.27081749e-02 -1.61213081e+01] [ 2.69707980e-03 9.99911642e-01 -1.30166927e-02 1.00124649e-01] [ 8.27498714e-02 1.27489319e-02 9.96488797e-01 5.63611944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.002557844 meters Centerline goodness : 0.111423 with order 2 Centerline is valid? [False, False] Translation: X:-16.12, Y:0.10, Z:0.56 [[ 9.96621572e-01 -4.29888746e-03 -8.20180578e-02 -1.61230553e+01] [ 3.23498625e-03 9.99908958e-01 -1.31000299e-02 9.89270993e-02] [ 8.20669063e-02 1.27904451e-02 9.96544744e-01 5.63788549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.062557844 meters Centerline goodness : 0.151718 with order 1 Centerline is valid? [False, False] Translation: X:-16.12, Y:0.10, Z:0.56 [[ 9.96589289e-01 -4.35644090e-03 -8.24063777e-02 -1.61216854e+01] [ 3.28018256e-03 9.99907611e-01 -1.31912558e-02 9.91982265e-02] [ 8.24562312e-02 1.28759562e-02 9.96511505e-01 5.63263678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.122557844 meters Centerline goodness : 0.145972 with order 1 Centerline is valid? [False, False] Translation: X:-16.12, Y:0.10, Z:0.56 [[ 9.96597869e-01 -4.35377332e-03 -8.23026873e-02 -1.61220606e+01] [ 3.24144216e-03 9.99901663e-01 -1.36439146e-02 1.02228291e-01] [ 8.23539965e-02 1.33307168e-02 9.96513979e-01 5.63280229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18255784400003 meters Centerline goodness : 0.147311 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:0.10, Z:0.56 [[ 9.96338660e-01 -3.11091809e-03 -8.54376730e-02 -1.61671029e+01] [ 2.04024093e-03 9.99918332e-01 -1.26161337e-02 1.01189423e-01] [ 8.54699432e-02 1.23956284e-02 9.96263638e-01 5.60812548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24255784400003 meters Centerline goodness : 0.098270 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:0.10, Z:0.56 [[ 9.96349197e-01 -3.20703351e-03 -8.53111458e-02 -1.61676976e+01] [ 2.12574627e-03 9.99916297e-01 -1.27624529e-02 1.01574742e-01] [ 8.53449347e-02 1.25345099e-02 9.96272617e-01 5.61134198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30255784400003 meters Centerline goodness : 0.148208 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:0.10, Z:0.56 [[ 9.96394196e-01 -3.39041476e-03 -8.47768330e-02 -1.61692173e+01] [ 2.37020998e-03 9.99923598e-01 -1.21317608e-02 9.74636985e-02] [ 8.48114877e-02 1.18870772e-02 9.96326106e-01 5.61450951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.362557844 meters Centerline goodness : 0.234798 with order 3 Centerline is valid? [False, False] Translation: X:-16.17, Y:0.09, Z:0.56 [[ 9.96407247e-01 -3.27956378e-03 -8.46276707e-02 -1.61693825e+01] [ 2.30970304e-03 9.99930563e-01 -1.15556909e-02 9.43506599e-02] [ 8.46596921e-02 1.13187094e-02 9.96345634e-01 5.61276305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.422557844 meters Centerline goodness : 0.133963 with order 2 Centerline is valid? [False, False] Translation: X:-16.17, Y:0.09, Z:0.56 [[ 9.96488355e-01 -3.60540636e-03 -8.36538038e-02 -1.61723157e+01] [ 2.67266256e-03 9.99933040e-01 -1.12593544e-02 8.86748719e-02] [ 8.36887968e-02 1.09962371e-02 9.96431266e-01 5.61821149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.482557844 meters Centerline goodness : 0.103052 with order 1 Centerline is valid? [False, False] Translation: X:-16.17, Y:0.09, Z:0.56 [[ 9.96484911e-01 -3.26907877e-03 -8.37086327e-02 -1.61717644e+01] [ 2.38172174e-03 9.99939936e-01 -1.06982112e-02 8.65074406e-02] [ 8.37385782e-02 1.04612354e-02 9.96432844e-01 5.61257565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.542557844 meters Centerline goodness : 0.406296 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.08, Z:0.56 [[ 9.96533286e-01 4.75427974e-03 -8.30590611e-02 -1.61923346e+01] [-5.74570328e-03 9.99915028e-01 -1.17014181e-02 7.82657166e-02] [ 8.29963716e-02 1.21380854e-02 9.96475925e-01 5.57783077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.602557844 meters Centerline goodness : 0.142804 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.08, Z:0.56 [[ 9.96557642e-01 5.03840402e-03 -8.27495060e-02 -1.61931882e+01] [-6.00134976e-03 9.99917097e-01 -1.13922691e-02 7.73521194e-02] [ 8.26852469e-02 1.18496616e-02 9.96505261e-01 5.57782055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.662557844 meters Centerline goodness : 0.098701 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.07, Z:0.56 [[ 9.96538346e-01 5.28591643e-03 -8.29661660e-02 -1.61926155e+01] [-6.19883207e-03 9.99923006e-01 -1.07497364e-02 7.34616847e-02] [ 8.29029559e-02 1.12268178e-02 9.96494385e-01 5.57756857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.722557844 meters Centerline goodness : 0.133008 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.07, Z:0.56 [[ 9.96475308e-01 5.40523397e-03 -8.37122697e-02 -1.61903961e+01] [-6.27231468e-03 9.99929338e-01 -1.00983365e-02 6.93638781e-02] [ 8.36517706e-02 1.05878127e-02 9.96438799e-01 5.57333619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.782557844 meters Centerline goodness : 0.134132 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.06, Z:0.56 [[ 9.96445114e-01 5.65258289e-03 -8.40546484e-02 -1.61895427e+01] [-6.44126507e-03 9.99937714e-01 -9.11474033e-03 6.37496919e-02] [ 8.39978911e-02 9.62375673e-03 9.96419459e-01 5.57477619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.842557844 meters Centerline goodness : 0.183090 with order 3 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.06, Z:0.56 [[ 9.96482839e-01 1.95345704e-03 -8.37743142e-02 -1.61901481e+01] [-2.96830634e-03 9.99923697e-01 -1.19912452e-02 5.88299641e-02] [ 8.37444976e-02 1.21977378e-02 9.96412602e-01 5.57283670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.902557844 meters Centerline goodness : 0.141369 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.06, Z:0.56 [[ 9.96447767e-01 2.06969810e-03 -8.41876698e-02 -1.61885036e+01] [-3.07217385e-03 9.99925896e-01 -1.17798254e-02 5.75816771e-02] [ 8.41570505e-02 1.19966198e-02 9.96380285e-01 5.56451474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.962557844 meters Centerline goodness : 0.266107 with order 3 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.06, Z:0.56 [[ 9.96437248e-01 2.45559426e-03 -8.43017264e-02 -1.61880417e+01] [-3.45150338e-03 9.99925947e-01 -1.16699166e-02 5.83316650e-02] [ 8.42668270e-02 1.19193072e-02 9.96371935e-01 5.56074004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.022557844 meters Centerline goodness : 0.136799 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.06, Z:0.56 [[ 9.96504686e-01 2.45523271e-03 -8.35007974e-02 -1.61905709e+01] [-3.46237482e-03 9.99922974e-01 -1.19187980e-02 6.01467341e-02] [ 8.34651022e-02 1.21662491e-02 9.96436430e-01 5.56617693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.082557844 meters Centerline goodness : 0.409869 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.06, Z:0.56 [[ 9.96499164e-01 2.34056628e-03 -8.35699533e-02 -1.61907138e+01] [-3.36480769e-03 9.99920921e-01 -1.21173559e-02 6.10420092e-02] [ 8.35349832e-02 1.23561318e-02 9.96428238e-01 5.57035651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.142557844 meters Centerline goodness : 0.144909 with order 1 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.06, Z:0.56 [[ 9.96541385e-01 2.27129642e-03 -8.30668922e-02 -1.61929444e+01] [-3.28878484e-03 9.99921211e-01 -1.21142456e-02 6.14625736e-02] [ 8.30328325e-02 1.23455363e-02 9.96470339e-01 5.58241356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.202557844 meters Centerline goodness : 0.124564 with order 3 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.06, Z:0.56 [[ 9.96584271e-01 2.09674985e-03 -8.25554010e-02 -1.61945690e+01] [-3.10096950e-03 9.99922734e-01 -1.20378507e-02 6.05069144e-02] [ 8.25237819e-02 1.22527344e-02 9.96513771e-01 5.58729915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.262557844 meters Centerline goodness : 0.111066 with order 3 Centerline is valid? [False, False] Translation: X:-16.19, Y:0.06, Z:0.56 [[ 9.96522532e-01 1.72258242e-03 -8.33059124e-02 -1.61927075e+01] [-2.73135910e-03 9.99924305e-01 -1.19968539e-02 5.87970888e-02] [ 8.32789409e-02 1.21826736e-02 9.96451805e-01 5.58908871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.322557844 meters Centerline goodness : 0.143376 with order 1 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.05, Z:0.56 [[ 9.96254807e-01 4.89763354e-06 -8.64659445e-02 -1.62357425e+01] [-1.07037492e-03 9.99924072e-01 -1.22761499e-02 5.19058495e-02] [ 8.64593192e-02 1.23227243e-02 9.96179169e-01 5.55619664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.382557844 meters Centerline goodness : 0.198448 with order 3 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.05, Z:0.56 [[ 9.96229227e-01 1.58221985e-04 -8.67600243e-02 -1.62347942e+01] [-1.21301973e-03 9.99925995e-01 -1.21050615e-02 5.12908409e-02] [ 8.67516884e-02 1.21646577e-02 9.96155693e-01 5.55338629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.442557844 meters Centerline goodness : 0.134336 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.05, Z:0.56 [[ 9.96210952e-01 1.31759505e-04 -8.69696625e-02 -1.62341766e+01] [-1.19217085e-03 9.99925584e-01 -1.21410608e-02 5.08691545e-02] [ 8.69615909e-02 1.21987404e-02 9.96136975e-01 5.55174148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.502557844 meters Centerline goodness : 0.136030 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.05, Z:0.56 [[ 9.96216645e-01 2.44979243e-04 -8.69041790e-02 -1.62345708e+01] [-1.28444650e-03 9.99928304e-01 -1.19053574e-02 4.98226377e-02] [ 8.68950318e-02 1.19719389e-02 9.96145535e-01 5.55466727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.562557844 meters Centerline goodness : 0.137963 with order 1 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.05, Z:0.56 [[ 9.96266556e-01 -3.69265196e-03 -8.62514569e-02 -1.62365805e+01] [ 2.39548846e-03 9.99882545e-01 -1.51379842e-02 4.67402343e-02] [ 8.62972256e-02 1.48748530e-02 9.96158385e-01 5.55980218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.622557844 meters Centerline goodness : 0.218836 with order 1 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.04, Z:0.56 [[ 9.96247041e-01 -3.93343027e-03 -8.64659516e-02 -1.62359067e+01] [ 2.67567933e-03 9.99888996e-01 -1.46572842e-02 4.21468115e-02] [ 8.65140070e-02 1.43709208e-02 9.96146979e-01 5.55874098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68255784400003 meters Centerline goodness : 0.120782 with order 3 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.03, Z:0.56 [[ 9.96252222e-01 -3.39735814e-03 -8.64289751e-02 -1.62358183e+01] [ 2.26197337e-03 9.99909906e-01 -1.32311653e-02 3.41989850e-02] [ 8.64661393e-02 1.29860778e-02 9.96170150e-01 5.55740835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74255784400003 meters Centerline goodness : 0.137789 with order 1 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.03, Z:0.56 [[ 9.96243116e-01 -3.01981324e-03 -8.65478690e-02 -1.62357767e+01] [ 1.96487812e-03 9.99922770e-01 -1.22716333e-02 2.83898305e-02] [ 8.65782430e-02 1.20554742e-02 9.96172110e-01 5.56112547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80255784400003 meters Centerline goodness : 0.131628 with order 1 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.02, Z:0.56 [[ 9.96224441e-01 -2.13936749e-03 -8.67887483e-02 -1.62352232e+01] [ 1.20297860e-03 9.99940520e-01 -1.08401558e-02 2.24361506e-02] [ 8.68067772e-02 1.06948231e-02 9.96167759e-01 5.56248717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.862557844 meters Centerline goodness : 0.205105 with order 3 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.02, Z:0.56 [[ 9.96281864e-01 -1.38763343e-03 -8.61424477e-02 -1.62367546e+01] [ 5.20266049e-04 9.99948953e-01 -1.00906230e-02 2.00411145e-02] [ 8.61520525e-02 1.00082877e-02 9.96231729e-01 5.56001762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.922557844 meters Centerline goodness : 0.130258 with order 1 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.02, Z:0.55 [[ 9.96282278e-01 -9.63110304e-05 -8.61487900e-02 -1.62360735e+01] [-7.17658344e-04 9.99955398e-01 -9.41739314e-03 1.97492053e-02] [ 8.61458546e-02 9.44420728e-03 9.96237772e-01 5.54852586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.982557844 meters Centerline goodness : 0.198616 with order 3 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.02, Z:0.55 [[ 9.96210718e-01 3.21796119e-03 -8.69128822e-02 -1.62323107e+01] [-3.85562536e-03 9.99966862e-01 -7.16994705e-03 2.47495831e-02] [ 8.68869295e-02 7.47788161e-03 9.96190114e-01 5.52666827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.042557844 meters Centerline goodness : 0.132432 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.03, Z:0.55 [[ 9.96242993e-01 3.14909488e-03 -8.65446825e-02 -1.62331050e+01] [-3.82163224e-03 9.99963768e-01 -7.60640090e-03 2.75053595e-02] [ 8.65175935e-02 7.90856554e-03 9.96218932e-01 5.52263934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.102557844 meters Centerline goodness : 0.133757 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.03, Z:0.55 [[ 9.96281507e-01 2.59642121e-03 -8.61186195e-02 -1.62349087e+01] [-3.27198918e-03 9.99964968e-01 -7.70439731e-03 2.69212936e-02] [ 8.60955987e-02 7.95752775e-03 9.96255101e-01 5.53289901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.162557844 meters Centerline goodness : 0.410384 with order 1 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.02, Z:0.55 [[ 9.96314711e-01 -1.22140878e-03 -8.57642356e-02 -1.62361563e+01] [ 3.04508868e-04 9.99942673e-01 -1.07032039e-02 2.36491148e-02] [ 8.57723920e-02 1.06376435e-02 9.96257967e-01 5.53782400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.222557844 meters Centerline goodness : 0.136890 with order 1 Centerline is valid? [False, False] Translation: X:-16.24, Y:0.02, Z:0.55 [[ 9.96299906e-01 -5.39520778e-03 -8.57752231e-02 -1.62357806e+01] [ 4.19958458e-03 9.99891582e-01 -1.41133660e-02 2.05326050e-02] [ 8.58420681e-02 1.37009250e-02 9.96214547e-01 5.53455653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.282557844 meters Centerline goodness : 0.131520 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.02, Z:0.55 [[ 9.96215948e-01 -5.72318629e-03 -8.67238707e-02 -1.62321977e+01] [ 4.54318143e-03 9.99894485e-01 -1.37977307e-02 1.65696768e-02] [ 8.67936871e-02 1.33515171e-02 9.96136834e-01 5.52155190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.342557844 meters Centerline goodness : 0.131930 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.02, Z:0.55 [[ 9.96227043e-01 -5.53368480e-03 -8.66086430e-02 -1.62324706e+01] [ 4.37712534e-03 9.99898776e-01 -1.35380717e-02 1.56393593e-02] [ 8.66747915e-02 1.31078962e-02 9.96150422e-01 5.52100277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.402557844 meters Centerline goodness : 0.131717 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.01, Z:0.55 [[ 9.96284264e-01 -4.92046183e-03 -8.59851937e-02 -1.62342060e+01] [ 3.81707318e-03 9.99908315e-01 -1.29920130e-02 1.44419812e-02] [ 8.60412368e-02 1.26155263e-02 9.96211701e-01 5.52202085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.462557844 meters Centerline goodness : 0.137418 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.01, Z:0.55 [[ 9.96264213e-01 -4.87332669e-03 -8.62198805e-02 -1.62330773e+01] [ 3.77690932e-03 9.99909980e-01 -1.28750862e-02 1.33216534e-02] [ 8.62748634e-02 1.25013430e-02 9.96192935e-01 5.51438549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.522557844 meters Centerline goodness : 0.119457 with order 3 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.01, Z:0.55 [[ 9.96281392e-01 -4.53842902e-03 -8.60394746e-02 -1.62342864e+01] [ 3.52510591e-03 9.99922673e-01 -1.19256964e-02 8.47914495e-03] [ 8.60869453e-02 1.15780512e-02 9.96220350e-01 5.52446649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.582557844 meters Centerline goodness : 0.132162 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.00, Z:0.55 [[ 9.96267658e-01 -8.49277176e-03 -8.58989325e-02 -1.62346837e+01] [ 7.22615385e-03 9.99860696e-01 -1.50456505e-02 4.50152727e-03] [ 8.60147457e-02 1.43687761e-02 9.96190244e-01 5.52614175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.642557844 meters Centerline goodness : 0.139410 with order 1 Centerline is valid? [False, False] Translation: X:-16.23, Y:0.00, Z:0.55 [[ 9.96231969e-01 -8.41126081e-03 -8.63198395e-02 -1.62332173e+01] [ 7.17586695e-03 9.99867487e-01 -1.46121467e-02 1.89149750e-03] [ 8.64313076e-02 1.39376680e-02 9.96160314e-01 5.52130485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.702557844 meters Centerline goodness : 0.139414 with order 1 Centerline is valid? [False, False] Translation: X:-16.25, Y:-0.01, Z:0.55 [[ 9.96318870e-01 -1.90856712e-03 -8.57033693e-02 -1.62512301e+01] [ 5.60944887e-04 9.99875873e-01 -1.57455915e-02 -7.55528150e-03] [ 8.57227827e-02 1.56395550e-02 9.96196270e-01 5.48541900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.762557844 meters Centerline goodness : 0.230076 with order 3 Centerline is valid? [False, False] Translation: X:-16.25, Y:-0.01, Z:0.55 [[ 9.96328511e-01 -1.83309537e-03 -8.55928639e-02 -1.62517706e+01] [ 5.20908298e-04 9.99882040e-01 -1.53503842e-02 -9.66513545e-03] [ 8.56109061e-02 1.52494394e-02 9.96211939e-01 5.48901466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.822557844 meters Centerline goodness : 0.118830 with order 3 Centerline is valid? [False, False] Translation: X:-16.25, Y:-0.01, Z:0.55 [[ 9.96326137e-01 -1.61061450e-03 -8.56249595e-02 -1.62519238e+01] [ 3.46777687e-04 9.99890814e-01 -1.47729701e-02 -1.24589768e-02] [ 8.56394039e-02 1.46890034e-02 9.96217911e-01 5.49259442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.882557844 meters Centerline goodness : 0.118834 with order 3 Centerline is valid? [False, False] Translation: X:-16.25, Y:-0.01, Z:0.55 [[ 9.96349217e-01 -1.43530345e-03 -8.53591144e-02 -1.62528802e+01] [ 1.96332226e-04 9.99894539e-01 -1.45214326e-02 -1.33874442e-02] [ 8.53709550e-02 1.44516592e-02 9.96244423e-01 5.49572319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.942557844 meters Centerline goodness : 0.163903 with order 3 Centerline is valid? [False, False] Translation: X:-16.25, Y:-0.01, Z:0.55 [[ 9.96341711e-01 -1.32819533e-03 -8.54484158e-02 -1.62525873e+01] [ 1.04654010e-04 9.99897430e-01 -1.43219501e-02 -1.43842093e-02] [ 8.54586737e-02 1.42606137e-02 9.96239655e-01 5.49484406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.002557844 meters Centerline goodness : 0.139189 with order 1 Centerline is valid? [False, False] Translation: X:-16.30, Y:-0.02, Z:0.55 [[ 9.96025958e-01 -1.23073972e-03 -8.90549108e-02 -1.62967559e+01] [ 4.73451534e-05 9.99911693e-01 -1.32892619e-02 -1.85571128e-02] [ 8.90634022e-02 1.32322335e-02 9.95938060e-01 5.47208656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.062557844 meters Centerline goodness : 0.138707 with order 1 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.02, Z:0.55 [[ 9.96143733e-01 7.63837951e-03 -8.74031890e-02 -1.62779509e+01] [-8.96801057e-03 9.99849811e-01 -1.48300679e-02 -1.70591376e-02] [ 8.72767843e-02 1.55567119e-02 9.96062624e-01 5.50196832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.122557844 meters Centerline goodness : 0.171381 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.01, Z:0.55 [[ 9.96137305e-01 7.54874341e-03 -8.74842018e-02 -1.62774847e+01] [-8.91704321e-03 9.99843793e-01 -1.52602999e-02 -1.45885951e-02] [ 8.73553400e-02 1.59814544e-02 9.96049014e-01 5.49775421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18255784400003 meters Centerline goodness : 0.124541 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.01, Z:0.55 [[ 9.96139320e-01 7.47466074e-03 -8.74676246e-02 -1.62775632e+01] [-8.86113280e-03 9.99841009e-01 -1.54737306e-02 -1.33027852e-02] [ 8.73380572e-02 1.61890537e-02 9.96047177e-01 5.49769252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24255784400003 meters Centerline goodness : 0.138613 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.01, Z:0.55 [[ 9.96163861e-01 7.33197740e-03 -8.71997971e-02 -1.62790703e+01] [-8.70371557e-03 9.99844127e-01 -1.53611867e-02 -1.45473481e-02] [ 8.70735772e-02 1.60612213e-02 9.96072402e-01 5.50922275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30255784400003 meters Centerline goodness : 0.130655 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.02, Z:0.55 [[ 9.96163406e-01 7.38165051e-03 -8.72008045e-02 -1.62794279e+01] [-8.74244282e-03 9.99845740e-01 -1.52336874e-02 -1.51330292e-02] [ 8.70749032e-02 1.59375899e-02 9.96074272e-01 5.51441297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.362557844 meters Centerline goodness : 0.129938 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.02, Z:0.55 [[ 9.96160190e-01 7.45640119e-03 -8.72311807e-02 -1.62794344e+01] [-8.80252768e-03 9.99847886e-01 -1.50572383e-02 -1.61200904e-02] [ 8.71056388e-02 1.57672762e-02 9.96074295e-01 5.51538145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.422557844 meters Centerline goodness : 0.124388 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.02, Z:0.55 [[ 9.96157074e-01 7.50789577e-03 -8.72623324e-02 -1.62793183e+01] [-8.84756566e-03 9.99848715e-01 -1.49755931e-02 -1.65227937e-02] [ 8.71366957e-02 1.56901022e-02 9.96072797e-01 5.51456833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.482557844 meters Centerline goodness : 0.128130 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.01, Z:0.55 [[ 9.96126079e-01 7.65039322e-03 -8.76031172e-02 -1.62777860e+01] [-9.01240793e-03 9.99844424e-01 -1.51626063e-02 -1.48005317e-02] [ 8.74734884e-02 1.58933826e-02 9.96040054e-01 5.50473196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.542557844 meters Centerline goodness : 0.138100 with order 2 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.01, Z:0.55 [[ 9.96123371e-01 7.77102467e-03 -8.76232925e-02 -1.62774643e+01] [-9.17682659e-03 9.99835382e-01 -1.56522994e-02 -1.10317357e-02] [ 8.74872337e-02 1.63957250e-02 9.96030704e-01 5.49991981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.602557844 meters Centerline goodness : 0.233147 with order 3 Centerline is valid? [False, False] Translation: X:-16.28, Y:-0.00, Z:0.55 [[ 9.96194419e-01 7.53022317e-03 -8.68330355e-02 -1.62794135e+01] [-9.00855592e-03 9.99820867e-01 -1.66457255e-02 -4.86473343e-03] [ 8.66921348e-02 1.73646191e-02 9.96083804e-01 5.49685971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.662557844 meters Centerline goodness : 0.227383 with order 3 Centerline is valid? [False, False] Translation: X:-16.30, Y:0.00, Z:0.55 [[ 9.96157413e-01 -1.19780510e-03 -8.75726738e-02 -1.62987929e+01] [-1.75891956e-04 9.99877093e-01 -1.56769674e-02 1.41993180e-03] [ 8.75806884e-02 1.56321307e-02 9.96034768e-01 5.46330850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.722557844 meters Centerline goodness : 0.130556 with order 3 Centerline is valid? [False, False] Translation: X:-16.30, Y:0.00, Z:0.55 [[ 9.96126322e-01 -1.54658993e-03 -8.79201886e-02 -1.62981975e+01] [ 1.29142465e-04 9.99869969e-01 -1.61253819e-02 3.45022922e-03] [ 8.79336957e-02 1.60515632e-02 9.95996994e-01 5.46761435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.782557844 meters Centerline goodness : 0.128574 with order 3 Centerline is valid? [False, False] Translation: X:-16.30, Y:0.00, Z:0.55 [[ 9.96119593e-01 -1.63091416e-03 -8.79948650e-02 -1.62984801e+01] [ 1.94777275e-04 9.99866690e-01 -1.63268082e-02 4.88925650e-03] [ 8.80097620e-02 1.62463141e-02 9.95987118e-01 5.47434464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.842557844 meters Centerline goodness : 0.124396 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:0.00, Z:0.55 [[ 9.95949214e-01 -3.21300796e-03 -8.98601091e-02 -1.63462361e+01] [ 1.71609690e-03 9.99858562e-01 -1.67305400e-02 2.46106357e-03] [ 8.99011548e-02 1.65085595e-02 9.95813863e-01 5.45473637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.902557844 meters Centerline goodness : 0.129798 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.00, Z:0.55 [[ 9.95985547e-01 -3.51753440e-03 -8.94450499e-02 -1.63481008e+01] [ 2.05262483e-03 9.99862344e-01 -1.64644721e-02 -7.70443502e-04] [ 8.94906517e-02 1.62147791e-02 9.95855664e-01 5.46547875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.962557844 meters Centerline goodness : 0.127237 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.00, Z:0.55 [[ 9.95979809e-01 -3.40230438e-03 -8.95133785e-02 -1.63478849e+01] [ 1.98156138e-03 9.99870732e-01 -1.59559328e-02 -3.67480508e-03] [ 8.95560942e-02 1.57144107e-02 9.95857803e-01 5.46554027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.022557844 meters Centerline goodness : 0.121261 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.01, Z:0.55 [[ 9.95979385e-01 -3.25068024e-03 -8.95237313e-02 -1.63475983e+01] [ 1.86625492e-03 9.99877448e-01 -1.55437047e-02 -6.23980018e-03] [ 8.95632876e-02 1.53141353e-02 9.95863392e-01 5.46273287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.082557844 meters Centerline goodness : 0.131394 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.01, Z:0.55 [[ 9.96029669e-01 -2.97551927e-03 -8.89721575e-02 -1.63489026e+01] [ 1.61004841e-03 9.99879886e-01 -1.54150009e-02 -5.85328430e-03] [ 8.90073383e-02 1.52105487e-02 9.95914822e-01 5.46032213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.142557844 meters Centerline goodness : 0.130498 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.00, Z:0.55 [[ 9.96003856e-01 -2.62276528e-03 -8.92717159e-02 -1.63477017e+01] [ 1.25004449e-03 9.99880180e-01 -1.54293202e-02 -4.47531874e-03] [ 8.93014868e-02 1.52560688e-02 9.95887793e-01 5.45330910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.202557844 meters Centerline goodness : 0.129521 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.00, Z:0.54 [[ 9.95968645e-01 -2.46671941e-03 -8.96681339e-02 -1.63465274e+01] [ 1.06260995e-03 9.99876131e-01 -1.57033230e-02 -2.54472061e-03] [ 8.96957624e-02 1.55447351e-02 9.95847896e-01 5.44994432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.262557844 meters Centerline goodness : 0.130799 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.00, Z:0.55 [[ 9.95991531e-01 -2.43856904e-03 -8.94143362e-02 -1.63473031e+01] [ 1.03502748e-03 9.99875582e-01 -1.57400602e-02 -2.03404444e-03] [ 8.94415947e-02 1.55844204e-02 9.95870136e-01 5.45093873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.322557844 meters Centerline goodness : 0.130720 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.00, Z:0.55 [[ 9.95978456e-01 -2.50453348e-03 -8.95580382e-02 -1.63468668e+01] [ 1.12814807e-03 9.99880531e-01 -1.54159596e-02 -4.41884181e-03] [ 8.95859486e-02 1.52529289e-02 9.95862293e-01 5.45063796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.382557844 meters Centerline goodness : 0.129921 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.01, Z:0.55 [[ 9.95949672e-01 -2.40100910e-03 -8.98803976e-02 -1.63463076e+01] [ 1.06507411e-03 9.99888295e-01 -1.49084864e-02 -7.05971452e-03] [ 8.99061530e-02 1.47523729e-02 9.95840977e-01 5.45487738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.442557844 meters Centerline goodness : 0.130245 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.01, Z:0.55 [[ 9.95930065e-01 -2.39232203e-03 -9.00976295e-02 -1.63458294e+01] [ 1.09473650e-03 9.99895013e-01 -1.44486584e-02 -1.04814975e-02] [ 9.01227363e-02 1.42912201e-02 9.95828124e-01 5.45713301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.502557844 meters Centerline goodness : 0.129780 with order 3 Centerline is valid? [False, False] Translation: X:-16.35, Y:-0.01, Z:0.55 [[ 9.95928877e-01 -2.34834660e-03 -9.01119157e-02 -1.63455814e+01] [ 1.04082108e-03 9.99893539e-01 -1.45542663e-02 -9.73567455e-03] [ 9.01365008e-02 1.44012237e-02 9.95825294e-01 5.45414731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.562557844 meters Centerline goodness : 0.121091 with order 3 Centerline is valid? [False, False] Translation: X:-16.37, Y:-0.01, Z:0.54 [[ 9.95985465e-01 6.16378838e-03 -8.93026430e-02 -1.63683102e+01] [-7.53118330e-03 9.99859385e-01 -1.49830665e-02 -1.35686409e-02] [ 8.91977332e-02 1.55954711e-02 9.95891834e-01 5.43354795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.622557844 meters Centerline goodness : 0.131043 with order 3 Centerline is valid? [False, False] Translation: X:-16.37, Y:-0.01, Z:0.54 [[ 9.95982034e-01 6.22242143e-03 -8.93368306e-02 -1.63680717e+01] [-7.57874242e-03 9.99860997e-01 -1.48509276e-02 -1.44052638e-02] [ 8.92320038e-02 1.54683179e-02 9.95890747e-01 5.43119665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68255784400003 meters Centerline goodness : 0.130557 with order 3 Centerline is valid? [False, False] Translation: X:-16.37, Y:-0.02, Z:0.54 [[ 9.95982998e-01 6.37863199e-03 -8.93150598e-02 -1.63681154e+01] [-7.70040696e-03 9.99865764e-01 -1.44622717e-02 -1.64749185e-02] [ 8.92108210e-02 1.50919391e-02 9.95898420e-01 5.43093244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74255784400003 meters Centerline goodness : 0.129000 with order 3 Centerline is valid? [False, False] Translation: X:-16.37, Y:-0.02, Z:0.54 [[ 9.95976924e-01 6.46901269e-03 -8.93762724e-02 -1.63682196e+01] [-7.77379719e-03 9.99868124e-01 -1.42584044e-02 -1.77610553e-02] [ 8.92722480e-02 1.48958348e-02 9.95895868e-01 5.43486446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80255784400003 meters Centerline goodness : 0.124671 with order 3 Centerline is valid? [False, False] Translation: X:-16.37, Y:-0.02, Z:0.54 [[ 9.96043618e-01 7.32091049e-03 -8.85636179e-02 -1.63706979e+01] [-8.58628572e-03 9.99866312e-01 -1.39152325e-02 -1.64043170e-02] [ 8.84499058e-02 1.46206110e-02 9.95973319e-01 5.43784036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.862557844 meters Centerline goodness : 0.124326 with order 3 Centerline is valid? [False, False] Translation: X:-16.37, Y:-0.01, Z:0.54 [[ 9.96080249e-01 7.80341660e-03 -8.81092745e-02 -1.63718299e+01] [-9.06957282e-03 9.99861154e-01 -1.39791098e-02 -1.38409329e-02] [ 8.79879561e-02 1.47234287e-02 9.96012721e-01 5.43616851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.922557844 meters Centerline goodness : 0.124908 with order 3 Centerline is valid? [False, False] Translation: X:-16.37, Y:-0.01, Z:0.54 [[ 9.95963106e-01 7.59116580e-03 -8.94419667e-02 -1.63675993e+01] [-8.95293714e-03 9.99849890e-01 -1.48338509e-02 -9.40771050e-03] [ 8.93159343e-02 1.55747365e-02 9.95881565e-01 5.42348196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.982557844 meters Centerline goodness : 0.119561 with order 3 Centerline is valid? [False, False] Translation: X:-16.37, Y:-0.01, Z:0.54 [[ 9.95936571e-01 7.40504492e-03 -8.97525015e-02 -1.63667611e+01] [-8.79956241e-03 9.99846486e-01 -1.51516432e-02 -7.76671189e-03] [ 8.96265246e-02 1.58798583e-02 9.95848842e-01 5.42271750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.042557844 meters Centerline goodness : 0.129544 with order 3 Centerline is valid? [False, False] Translation: X:-16.37, Y:-0.01, Z:0.54 [[ 9.95981759e-01 7.10804627e-03 -8.92737998e-02 -1.63683557e+01] [-8.50674438e-03 9.99846810e-01 -1.52968156e-02 -7.69635259e-03] [ 8.91513934e-02 1.59947787e-02 9.95889651e-01 5.42842075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.102557844 meters Centerline goodness : 0.121179 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:-0.00, Z:0.54 [[ 9.95980747e-01 -2.40215909e-03 -8.95353585e-02 -1.63898227e+01] [ 1.08709992e-03 9.99890866e-01 -1.47334680e-02 -4.19227589e-03] [ 8.95609792e-02 1.45769166e-02 9.95874663e-01 5.40273002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.162557844 meters Centerline goodness : 0.125260 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:-0.00, Z:0.54 [[ 9.95946955e-01 -2.56883189e-03 -8.99058602e-02 -1.63889278e+01] [ 1.23430958e-03 9.99888287e-01 -1.48960040e-02 -3.88309811e-03] [ 8.99340818e-02 1.47246582e-02 9.95838865e-01 5.40375191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.222557844 meters Centerline goodness : 0.137691 with order 1 Centerline is valid? [False, False] Translation: X:-16.39, Y:-0.00, Z:0.54 [[ 9.95944148e-01 -2.62550020e-03 -8.99353158e-02 -1.63886532e+01] [ 1.27840351e-03 9.99886183e-01 -1.50328364e-02 -2.79799565e-03] [ 8.99645484e-02 1.48568918e-02 9.95834149e-01 5.40115514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.282557844 meters Centerline goodness : 0.123164 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:-0.00, Z:0.54 [[ 9.95965296e-01 -2.58581061e-03 -8.97019717e-02 -1.63894252e+01] [ 1.24738034e-03 9.99887110e-01 -1.49737084e-02 -2.98788651e-03] [ 8.97305644e-02 1.48014014e-02 9.95856086e-01 5.40328499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.342557844 meters Centerline goodness : 0.131769 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:-0.00, Z:0.54 [[ 9.95979958e-01 -2.60867424e-03 -8.95383569e-02 -1.63902165e+01] [ 1.26927796e-03 9.99886499e-01 -1.50125911e-02 -2.90460073e-03] [ 8.95673571e-02 1.48385908e-02 9.95870225e-01 5.40822037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.402557844 meters Centerline goodness : 0.141343 with order 1 Centerline is valid? [False, False] Translation: X:-16.39, Y:-0.00, Z:0.54 [[ 9.95975639e-01 -2.70100577e-03 -8.95836559e-02 -1.63899829e+01] [ 1.34085913e-03 9.99882970e-01 -1.52396845e-02 -1.69552327e-03] [ 8.96143344e-02 1.50582354e-02 9.95862702e-01 5.40611178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.462557844 meters Centerline goodness : 0.128704 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:0.00, Z:0.54 [[ 9.95971130e-01 -2.87081003e-03 -8.96284889e-02 -1.63900903e+01] [ 1.46379421e-03 9.99874730e-01 -1.57600965e-02 1.18144915e-03] [ 8.96625054e-02 1.55654034e-02 9.95850568e-01 5.40845965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.522557844 meters Centerline goodness : 0.122574 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:0.00, Z:0.54 [[ 9.96011319e-01 -2.93202243e-03 -8.91787873e-02 -1.63919911e+01] [ 1.51458949e-03 9.99871519e-01 -1.59578021e-02 2.36774729e-03] [ 8.92141182e-02 1.57590823e-02 9.95887791e-01 5.41833282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.582557844 meters Centerline goodness : 0.188226 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:0.00, Z:0.54 [[ 9.96037153e-01 -2.91496665e-03 -8.88903436e-02 -1.63929913e+01] [ 1.50595710e-03 9.99872229e-01 -1.59140455e-02 2.43341485e-03] [ 8.89253750e-02 1.57171156e-02 9.95914278e-01 5.42140136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.642557844 meters Centerline goodness : 0.131284 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:0.00, Z:0.54 [[ 9.96015376e-01 -2.95020547e-03 -8.91328652e-02 -1.63922407e+01] [ 1.54386457e-03 9.99873302e-01 -1.58428525e-02 1.66832092e-03] [ 8.91683119e-02 1.56421156e-02 9.95893737e-01 5.41992898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.702557844 meters Centerline goodness : 0.133625 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:-0.00, Z:0.54 [[ 9.95977426e-01 -2.88701382e-03 -8.95579830e-02 -1.63914087e+01] [ 1.50998640e-03 9.99879660e-01 -1.54397629e-02 -8.03587573e-04] [ 8.95917804e-02 1.52424240e-02 9.95861929e-01 5.42380602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.762557844 meters Centerline goodness : 0.132553 with order 3 Centerline is valid? [False, False] Translation: X:-16.39, Y:-0.00, Z:0.54 [[ 9.95971724e-01 -2.73850180e-03 -8.96260373e-02 -1.63914676e+01] [ 1.39231359e-03 9.99885334e-01 -1.50791317e-02 -2.78720462e-03] [ 8.96570545e-02 1.48936012e-02 9.95861332e-01 5.42706126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.822557844 meters Centerline goodness : 0.122111 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.01, Z:0.54 [[ 9.95836241e-01 -2.89539653e-03 -9.11142059e-02 -1.64391198e+01] [ 1.60426518e-03 9.99897312e-01 -1.42405214e-02 -7.22062722e-03] [ 9.11460815e-02 1.40350560e-02 9.95738625e-01 5.40150990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.882557844 meters Centerline goodness : 0.131829 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.01, Z:0.54 [[ 9.95836604e-01 -2.91935081e-03 -9.11094731e-02 -1.64390126e+01] [ 1.61037041e-03 9.99894480e-01 -1.44373238e-02 -6.32908650e-03] [ 9.11420068e-02 1.42304955e-02 9.95736224e-01 5.39945965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.942557844 meters Centerline goodness : 0.131741 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.01, Z:0.54 [[ 9.95863184e-01 -2.86717370e-03 -9.08201407e-02 -1.64396428e+01] [ 1.55691898e-03 9.99893737e-01 -1.44944803e-02 -5.64517882e-03] [ 9.08520481e-02 1.42931197e-02 9.95761825e-01 5.39716545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.002557844 meters Centerline goodness : 0.187016 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.01, Z:0.54 [[ 9.95853165e-01 -2.90446168e-03 -9.09287508e-02 -1.64393645e+01] [ 1.58949225e-03 9.99893162e-01 -1.45306130e-02 -5.83964114e-03] [ 9.09612398e-02 1.43258264e-02 9.95751386e-01 5.39694878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.062557844 meters Centerline goodness : 0.129202 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.01, Z:0.54 [[ 9.95825353e-01 -2.71548741e-03 -9.12386595e-02 -1.64385141e+01] [ 1.40407312e-03 9.99894830e-01 -1.44345635e-02 -5.31133522e-03] [ 9.12682608e-02 1.42461985e-02 9.95724435e-01 5.39567890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.122557844 meters Centerline goodness : 0.200091 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.01, Z:0.54 [[ 9.95848954e-01 -2.69883423e-03 -9.09811858e-02 -1.64394611e+01] [ 1.38673314e-03 9.99894172e-01 -1.44818059e-02 -5.40031067e-03] [ 9.10106414e-02 1.42955246e-02 9.95747308e-01 5.39951740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18255784400003 meters Centerline goodness : 0.127284 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.00, Z:0.54 [[ 9.95868139e-01 -2.41750873e-03 -9.07788802e-02 -1.64397930e+01] [ 1.10476844e-03 9.99894138e-01 -1.45083208e-02 -4.36955582e-03] [ 9.08043442e-02 1.43480848e-02 9.95765386e-01 5.39568443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24255784400003 meters Centerline goodness : 0.129163 with order 3 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.01, Z:0.54 [[ 9.95717141e-01 6.64046762e-03 -9.22132299e-02 -1.64585927e+01] [-8.05360245e-03 9.99855644e-01 -1.49609875e-02 -7.16195133e-03] [ 9.21005704e-02 1.56395603e-02 9.95626882e-01 5.36158770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30255784400003 meters Centerline goodness : 0.131085 with order 3 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.01, Z:0.54 [[ 9.95705743e-01 6.74924530e-03 -9.23283343e-02 -1.64582527e+01] [-8.13372458e-03 9.99859935e-01 -1.46271057e-02 -8.99581955e-03] [ 9.22166804e-02 1.53152664e-02 9.95621176e-01 5.36057917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.362557844 meters Centerline goodness : 0.140972 with order 3 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.02, Z:0.54 [[ 9.95677142e-01 2.85951490e-03 -9.28377745e-02 -1.64573138e+01] [-4.48292646e-03 9.99840593e-01 -1.72827100e-02 -1.54208190e-02] [ 9.27735553e-02 1.76241842e-02 9.95531243e-01 5.36457690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.422557844 meters Centerline goodness : 0.176155 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.02, Z:0.54 [[ 9.95859219e-01 -6.85701169e-03 -9.06498570e-02 -1.64387514e+01] [ 5.32145390e-03 9.99838418e-01 -1.71702951e-02 -1.79598068e-02] [ 9.07529466e-02 1.66168076e-02 9.95734796e-01 5.39224646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.482557844 meters Centerline goodness : 0.124968 with order 3 Centerline is valid? [False, False] Translation: X:-16.44, Y:-0.03, Z:0.54 [[ 9.95939694e-01 -7.05184379e-03 -8.97462973e-02 -1.64418603e+01] [ 5.59781042e-03 9.99849135e-01 -1.64429995e-02 -2.61635280e-02] [ 8.98487112e-02 1.58738531e-02 9.95828916e-01 5.40247442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.542557844 meters Centerline goodness : 0.141921 with order 1 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.03, Z:0.54 [[ 9.95928223e-01 5.72539873e-04 -9.01479158e-02 -1.64603740e+01] [-2.14711474e-03 9.99846815e-01 -1.73705624e-02 -3.38748487e-02] [ 9.01241611e-02 1.74933913e-02 9.95776891e-01 5.36630070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.602557844 meters Centerline goodness : 0.139427 with order 1 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.03, Z:0.54 [[ 9.95934251e-01 7.67150550e-04 -9.00798444e-02 -1.64607424e+01] [-2.35009761e-03 9.99844662e-01 -1.74679622e-02 -3.28207169e-02] [ 9.00524510e-02 1.76086383e-02 9.95781347e-01 5.36827955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.662557844 meters Centerline goodness : 0.122089 with order 3 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.03, Z:0.54 [[ 9.96005613e-01 9.37613339e-04 -8.92857215e-02 -1.64627602e+01] [-2.52260027e-03 9.99841209e-01 -1.76406658e-02 -3.08172955e-02] [ 8.92550037e-02 1.77954344e-02 9.95849821e-01 5.36730569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.722557844 meters Centerline goodness : 0.143549 with order 1 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.03, Z:0.54 [[ 9.95972222e-01 5.10126804e-04 -8.96608782e-02 -1.64611609e+01] [-2.18509409e-03 9.99824915e-01 -1.85839751e-02 -2.63269965e-02] [ 8.96356997e-02 1.87050405e-02 9.95798957e-01 5.35756354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.782557844 meters Centerline goodness : 0.156442 with order 3 Centerline is valid? [False, False] Translation: X:-16.46, Y:-0.02, Z:0.54 [[ 9.96001962e-01 3.83863168e-04 -8.93305377e-02 -1.64623715e+01] [-2.07060532e-03 9.99821306e-01 -1.87901297e-02 -2.47763783e-02] [ 8.93073620e-02 1.88999743e-02 9.95824777e-01 5.36136834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.842557844 meters Centerline goodness : 0.148047 with order 1 Centerline is valid? [False, False] Translation: X:-16.47, Y:-0.02, Z:0.54 [[ 9.96116213e-01 -1.46243565e-03 -8.80360837e-02 -1.64674084e+01] [-3.13781680e-04 9.99796742e-01 -2.01587956e-02 -2.42038560e-02] [ 8.80476706e-02 2.01081272e-02 9.95913285e-01 5.38031033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.902557844 meters Centerline goodness : 0.137893 with order 3 Centerline is valid? [False, False] Translation: X:-16.47, Y:-0.03, Z:0.54 [[ 9.96080260e-01 -5.32255695e-03 -8.82937518e-02 -1.64661136e+01] [ 3.29389008e-03 9.99727591e-01 -2.31061440e-02 -2.71560326e-02] [ 8.83926835e-02 2.27247440e-02 9.95826450e-01 5.37395749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.962557844 meters Centerline goodness : 0.144164 with order 1 Centerline is valid? [False, False] Translation: X:-16.47, Y:-0.03, Z:0.54 [[ 9.96089856e-01 -5.57498446e-03 -8.81698217e-02 -1.64662088e+01] [ 3.55681599e-03 9.99728444e-01 -2.30301273e-02 -2.87501506e-02] [ 8.82742713e-02 2.26264724e-02 9.95839192e-01 5.37165198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.022557844 meters Centerline goodness : 0.146838 with order 1 Centerline is valid? [False, False] Translation: X:-16.49, Y:-0.03, Z:0.53 [[ 9.96108331e-01 2.36223658e-03 -8.81056947e-02 -1.64861492e+01] [-4.46654547e-03 9.99709270e-01 -2.36944202e-02 -3.49361309e-02] [ 8.80241079e-02 2.39957374e-02 9.95829283e-01 5.33917682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.082557844 meters Centerline goodness : 0.144567 with order 1 Centerline is valid? [False, False] Translation: X:-16.49, Y:-0.03, Z:0.53 [[ 9.96102471e-01 2.33922476e-03 -8.81725280e-02 -1.64857324e+01] [-4.45338600e-03 9.99707095e-01 -2.37884663e-02 -3.46452207e-02] [ 8.80910553e-02 2.40884164e-02 9.95821126e-01 5.33599052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.142557844 meters Centerline goodness : 0.123905 with order 3 Centerline is valid? [False, False] Translation: X:-16.48, Y:-0.03, Z:0.53 [[ 9.96077576e-01 2.78572724e-03 -8.84403839e-02 -1.64845316e+01] [-4.92103601e-03 9.99701400e-01 -2.39351991e-02 -3.26053812e-02] [ 8.83472987e-02 2.42765334e-02 9.95793857e-01 5.32809800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.202557844 meters Centerline goodness : 0.123335 with order 3 Centerline is valid? [False, False] Translation: X:-16.53, Y:-0.03, Z:0.53 [[ 9.95817735e-01 3.07476027e-03 -9.13103759e-02 -1.65295028e+01] [-5.20475792e-03 9.99719656e-01 -2.30980536e-02 -3.32953877e-02] [ 9.12137566e-02 2.34766999e-02 9.95554567e-01 5.29742107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.262557844 meters Centerline goodness : 0.126722 with order 3 Centerline is valid? [False, False] Translation: X:-16.53, Y:-0.03, Z:0.53 [[ 9.95775160e-01 3.51288366e-03 -9.17577784e-02 -1.65283312e+01] [-5.67582567e-03 9.99711893e-01 -2.33219971e-02 -2.98806031e-02] [ 9.16494149e-02 2.37442666e-02 9.95508209e-01 5.29563401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.322557844 meters Centerline goodness : 0.144783 with order 1 Centerline is valid? [False, False] Translation: X:-16.55, Y:-0.02, Z:0.53 [[ 9.95821905e-01 -2.30003288e-03 -9.12876957e-02 -1.65517634e+01] [ 4.25497711e-04 9.99788766e-01 -2.05485206e-02 -2.30954653e-02] [ 9.13156750e-02 2.04238242e-02 9.95612533e-01 5.27603971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.382557844 meters Centerline goodness : 0.128848 with order 3 Centerline is valid? [False, False] Translation: X:-16.53, Y:-0.02, Z:0.53 [[ 9.95845331e-01 -1.02950339e-02 -9.04770102e-02 -1.65321399e+01] [ 8.55000053e-03 9.99770292e-01 -1.96535113e-02 -1.74921919e-02] [ 9.06585605e-02 1.87982790e-02 9.95704600e-01 5.30745105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.442557844 meters Centerline goodness : 0.147216 with order 1 Centerline is valid? [False, False] Translation: X:-16.58, Y:-0.02, Z:0.53 [[ 9.95547297e-01 -1.17734643e-02 -9.35252067e-02 -1.65761900e+01] [ 9.98165911e-03 9.99758010e-01 -1.96032876e-02 -2.28075073e-02] [ 9.37333731e-02 1.85824633e-02 9.95423903e-01 5.27468882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.502557844 meters Centerline goodness : 0.132109 with order 3 Centerline is valid? [False, False] Translation: X:-16.58, Y:-0.03, Z:0.53 [[ 9.95577977e-01 -1.18812839e-02 -9.31843749e-02 -1.65772134e+01] [ 1.01457812e-02 9.99766556e-01 -1.90760947e-02 -2.66021880e-02] [ 9.33892701e-02 1.80463115e-02 9.95466109e-01 5.27806881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.562557844 meters Centerline goodness : 0.138569 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.04, Z:0.52 [[ 9.95830172e-01 -5.65095644e-03 -9.10512816e-02 -1.65963159e+01] [ 3.83655169e-03 9.99790814e-01 -2.00900018e-02 -3.58283608e-02] [ 9.11457627e-02 1.96569070e-02 9.95643539e-01 5.23828070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.622557844 meters Centerline goodness : 0.131730 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.04, Z:0.52 [[ 9.95847503e-01 -5.23264568e-03 -9.08865807e-02 -1.65967218e+01] [ 3.49485206e-03 9.99808226e-01 -1.92690987e-02 -3.95311366e-02] [ 9.09699793e-02 1.88714487e-02 9.95674812e-01 5.23786039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68255784400003 meters Centerline goodness : 0.120468 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.04, Z:0.52 [[ 9.95868981e-01 -4.97009583e-03 -9.06657043e-02 -1.65970492e+01] [ 3.27556851e-03 9.99817352e-01 -1.88290709e-02 -4.15282096e-02] [ 9.07427267e-02 1.84543059e-02 9.95703368e-01 5.23500978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74255784400003 meters Centerline goodness : 0.126942 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.04, Z:0.52 [[ 9.95884742e-01 -4.87071263e-03 -9.04978307e-02 -1.65975694e+01] [ 3.16353186e-03 9.99814513e-01 -1.89982021e-02 -4.06936255e-02] [ 9.05735793e-02 1.86337268e-02 9.95715427e-01 5.23589624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80255784400003 meters Centerline goodness : 0.122187 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.03, Z:0.52 [[ 9.95834177e-01 -4.44467780e-04 -9.11816525e-02 -1.65955809e+01] [-1.02369222e-03 9.99870601e-01 -1.60540846e-02 -3.36378710e-02] [ 9.11769892e-02 1.60805481e-02 9.95704862e-01 5.23008301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.862557844 meters Centerline goodness : 0.122665 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.03, Z:0.52 [[ 9.95889147e-01 -2.09477932e-04 -9.05801523e-02 -1.65974194e+01] [-1.30062346e-03 9.99861164e-01 -1.66120899e-02 -2.87086429e-02] [ 9.05710564e-02 1.66616107e-02 9.95750609e-01 5.23181098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.922557844 meters Centerline goodness : 0.139910 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.02, Z:0.52 [[ 9.95909408e-01 -6.85658241e-04 -9.03547458e-02 -1.65980099e+01] [-9.15716449e-04 9.99843268e-01 -1.76805478e-02 -2.28016152e-02] [ 9.03527071e-02 1.76909632e-02 9.95752689e-01 5.23046931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.982557844 meters Centerline goodness : 0.230252 with order 3 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.02, Z:0.52 [[ 9.95635235e-01 -3.19761943e-03 -9.32751522e-02 -1.66419320e+01] [ 1.43257038e-03 9.99818764e-01 -1.89838593e-02 -2.30754249e-02] [ 9.33189505e-02 1.87673760e-02 9.95459371e-01 5.19382121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.042557844 meters Centerline goodness : 0.135970 with order 3 Centerline is valid? [False, False] Translation: X:-16.65, Y:-0.02, Z:0.52 [[ 9.95725067e-01 -4.14618360e-03 -9.22735091e-02 -1.66453091e+01] [ 2.34599349e-03 9.99804969e-01 -1.96092081e-02 -2.09182510e-02] [ 9.23368163e-02 1.93089070e-02 9.95540596e-01 5.20392920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.102557844 meters Centerline goodness : 0.137828 with order 3 Centerline is valid? [False, False] Translation: X:-16.65, Y:-0.02, Z:0.52 [[ 9.95716943e-01 -4.71993285e-03 -9.23335848e-02 -1.66452679e+01] [ 2.88671037e-03 9.99796256e-01 -1.99778311e-02 -2.04939271e-02] [ 9.24090664e-02 1.96257246e-02 9.95527697e-01 5.20602602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.162557844 meters Centerline goodness : 0.139975 with order 3 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.02, Z:0.52 [[ 9.95606242e-01 -5.11059404e-03 -9.34991636e-02 -1.66411629e+01] [ 3.23616018e-03 9.99790959e-01 -2.01882494e-02 -2.05096630e-02] [ 9.35827924e-02 1.97969688e-02 9.95414658e-01 5.19094763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.222557844 meters Centerline goodness : 0.143864 with order 3 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.02, Z:0.52 [[ 9.95651527e-01 -5.03277243e-03 -9.30199349e-02 -1.66425964e+01] [ 3.16057161e-03 9.99789684e-01 -2.02632479e-02 -1.95554065e-02] [ 9.31023516e-02 1.98811376e-02 9.95458032e-01 5.19385305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.282557844 meters Centerline goodness : 0.151184 with order 3 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.02, Z:0.52 [[ 9.95724568e-01 -4.97491355e-03 -9.22379220e-02 -1.66448922e+01] [ 3.08400719e-03 9.99782391e-01 -2.06315276e-02 -1.76155628e-02] [ 9.23204903e-02 2.02588565e-02 9.95523232e-01 5.19741912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.342557844 meters Centerline goodness : 0.143388 with order 3 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.02, Z:0.52 [[ 9.95703413e-01 -8.86961464e-04 -9.25954948e-02 -1.66433804e+01] [-6.80280425e-04 9.99857076e-01 -1.68927467e-02 -1.75643779e-02] [ 9.25972439e-02 1.68831564e-02 9.95560500e-01 5.18947562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.402557844 meters Centerline goodness : 0.154752 with order 3 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.02, Z:0.52 [[ 9.95707291e-01 -1.07619385e-03 -9.25517856e-02 -1.66434757e+01] [-5.30132198e-04 9.99849690e-01 -1.73296341e-02 -1.53824600e-02] [ 9.25565242e-02 1.73043077e-02 9.95557056e-01 5.18871868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.462557844 meters Centerline goodness : 0.136428 with order 3 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.01, Z:0.52 [[ 9.95700488e-01 -1.21345420e-03 -9.26232506e-02 -1.66429990e+01] [-4.11286485e-04 9.99846423e-01 -1.75202877e-02 -1.46590862e-02] [ 9.26302859e-02 1.74830537e-02 9.95547072e-01 5.18432219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.522557844 meters Centerline goodness : 0.140355 with order 3 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.02, Z:0.52 [[ 9.95722453e-01 -1.49043657e-03 -9.23827678e-02 -1.66438803e+01] [-1.27024441e-04 9.99846857e-01 -1.74999023e-02 -1.54454565e-02] [ 9.23947025e-02 1.74367805e-02 9.95569775e-01 5.18774799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.582557844 meters Centerline goodness : 0.147303 with order 3 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.02, Z:0.52 [[ 9.95706848e-01 -5.62208433e-03 -9.23919101e-02 -1.66437406e+01] [ 3.71043579e-03 9.99775742e-01 -2.08494143e-02 -1.82927102e-02] [ 9.24884076e-02 2.04170903e-02 9.95504413e-01 5.18614983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.642557844 meters Centerline goodness : 0.150836 with order 3 Centerline is valid? [False, False] Translation: X:-16.65, Y:-0.03, Z:0.52 [[ 9.95751100e-01 -1.02887519e-02 -9.15089514e-02 -1.66464254e+01] [ 8.14909469e-03 9.99685310e-01 -2.37249370e-02 -2.77030328e-02] [ 9.17242544e-02 2.28784170e-02 9.95521592e-01 5.19190894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.702557844 meters Centerline goodness : 0.130171 with order 3 Centerline is valid? [False, False] Translation: X:-16.65, Y:-0.03, Z:0.52 [[ 9.95727697e-01 -1.40849545e-02 -9.12576941e-02 -1.66467977e+01] [ 1.17514310e-02 9.99591364e-01 -2.60577868e-02 -3.49377997e-02] [ 9.15874257e-02 2.48740516e-02 9.95486326e-01 5.18416699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.762557844 meters Centerline goodness : 0.146247 with order 2 Centerline is valid? [False, False] Translation: X:-16.65, Y:-0.04, Z:0.52 [[ 9.95742700e-01 -1.75003248e-02 -9.04998055e-02 -1.66483265e+01] [ 1.50115285e-02 9.99492153e-01 -2.81085404e-02 -4.22048335e-02] [ 9.09457540e-02 2.66303335e-02 9.95499721e-01 5.17586971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.822557844 meters Centerline goodness : 0.149103 with order 3 Centerline is valid? [False, False] Translation: X:-16.67, Y:-0.05, Z:0.51 [[ 9.96028839e-01 -9.25346205e-03 -8.85490013e-02 -1.66673600e+01] [ 6.73083457e-03 9.99564121e-01 -2.87447999e-02 -5.00562956e-02] [ 8.87763936e-02 2.80346410e-02 9.95656974e-01 5.13811687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.882557844 meters Centerline goodness : 0.157768 with order 3 Centerline is valid? [False, False] Translation: X:-16.66, Y:-0.05, Z:0.51 [[ 9.95955635e-01 -9.06918756e-03 -8.93874825e-02 -1.66649566e+01] [ 6.51864558e-03 9.99564391e-01 -2.87842891e-02 -5.01566812e-02] [ 8.96095947e-02 2.80851896e-02 9.95580907e-01 5.13803196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.942557844 meters Centerline goodness : 0.149708 with order 3 Centerline is valid? [False, False] Translation: X:-16.65, Y:-0.06, Z:0.52 [[ 9.96002218e-01 -3.33041294e-04 -8.93278868e-02 -1.66463477e+01] [-2.25960007e-03 9.99579141e-01 -2.89211791e-02 -5.59384589e-02] [ 8.92999244e-02 2.90074038e-02 9.95582289e-01 5.16526453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.002557844 meters Centerline goodness : 0.155012 with order 3 Centerline is valid? [False, False] Translation: X:-16.63, Y:-0.06, Z:0.52 [[ 9.96145024e-01 -8.17035505e-03 -8.73403460e-02 -1.66266619e+01] [ 5.77063847e-03 9.99599826e-01 -2.76927307e-02 -5.53035495e-02] [ 8.75316542e-02 2.70819664e-02 9.95793541e-01 5.19037073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.062557844 meters Centerline goodness : 0.155031 with order 3 Centerline is valid? [False, False] Translation: X:-16.62, Y:-0.06, Z:0.52 [[ 9.96045876e-01 -7.95807808e-03 -8.84832299e-02 -1.66231319e+01] [ 5.57432476e-03 9.99615700e-01 -2.71547117e-02 -5.77232519e-02] [ 8.86653252e-02 2.65541044e-02 9.95707457e-01 5.18057891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.122557844 meters Centerline goodness : 0.170359 with order 3 Centerline is valid? [False, False] Translation: X:-16.62, Y:-0.06, Z:0.52 [[ 9.96041409e-01 -7.67330824e-03 -8.85586329e-02 -1.66227815e+01] [ 5.33196943e-03 9.99630749e-01 -2.66446357e-02 -5.94838409e-02] [ 8.87303850e-02 2.60669686e-02 9.95714533e-01 5.17698154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18255784400003 meters Centerline goodness : 0.217227 with order 3 Centerline is valid? [False, False] Translation: X:-16.62, Y:-0.06, Z:0.52 [[ 9.96088191e-01 -8.08636188e-03 -8.79938955e-02 -1.66248163e+01] [ 5.77783043e-03 9.99633221e-01 -2.64582821e-02 -6.19793085e-02] [ 8.81755724e-02 2.58463686e-02 9.95769569e-01 5.17953340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24255784400003 meters Centerline goodness : 0.153376 with order 2 Centerline is valid? [False, False] Translation: X:-16.64, Y:-0.07, Z:0.51 [[ 9.96125821e-01 6.83139030e-04 -8.79368107e-02 -1.66440036e+01] [-3.05001524e-03 9.99636589e-01 -2.67840981e-02 -7.01914511e-02] [ 8.78865562e-02 2.69485403e-02 9.95765901e-01 5.14854342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30255784400003 meters Centerline goodness : 0.181691 with order 2 Centerline is valid? [False, False] Translation: X:-16.62, Y:-0.07, Z:0.52 [[ 9.95977214e-01 -7.27290441e-03 -8.93112181e-02 -1.66226779e+01] [ 4.93952551e-03 9.99641374e-01 -2.63196646e-02 -6.55343555e-02] [ 8.94706091e-02 2.57726312e-02 9.95655955e-01 5.17449168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.362557844 meters Centerline goodness : 0.249484 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.06, Z:0.52 [[ 9.95920062e-01 -1.53288265e-02 -8.89283780e-02 -1.66022887e+01] [ 1.30978198e-02 9.99586017e-01 -2.56172347e-02 -6.03883060e-02] [ 8.92842452e-02 2.43479501e-02 9.95708542e-01 5.20121287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.422557844 meters Centerline goodness : 0.252554 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.06, Z:0.52 [[ 9.95918869e-01 -1.56386873e-02 -8.88877875e-02 -1.66022645e+01] [ 1.34196154e-02 9.99584544e-01 -2.55079125e-02 -6.09053382e-02] [ 8.92497688e-02 2.42109715e-02 9.95714973e-01 5.19236685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.482557844 meters Centerline goodness : 0.124108 with order 1 Centerline is valid? [False, False] Translation: X:-16.62, Y:-0.06, Z:0.52 [[ 9.96086837e-01 -6.52291789e-03 -8.81388950e-02 -1.66212579e+01] [ 4.21123685e-03 9.99642899e-01 -2.63882473e-02 -6.48254974e-02] [ 8.82795489e-02 2.59138121e-02 9.95758603e-01 5.16223758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.542557844 meters Centerline goodness : 0.114766 with order 1 Centerline is valid? [False, False] Translation: X:-16.62, Y:-0.06, Z:0.52 [[ 9.96128010e-01 -3.16427420e-03 -8.78577033e-02 -1.66219514e+01] [ 1.12352036e-03 9.99728639e-01 -2.32676859e-02 -6.23975855e-02] [ 8.79074875e-02 2.30788837e-02 9.95861255e-01 5.16231560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.602557844 meters Centerline goodness : 0.122420 with order 1 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.05, Z:0.52 [[ 9.95880510e-01 -9.60627626e-03 -9.01650126e-02 -1.66032104e+01] [ 7.54247990e-03 9.99702345e-01 -2.32019950e-02 -4.94610276e-02] [ 9.03610593e-02 2.24263468e-02 9.95656536e-01 5.19752760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.662557844 meters Centerline goodness : 0.245390 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.05, Z:0.52 [[ 9.95905108e-01 -6.82473094e-03 -9.01467583e-02 -1.66035772e+01] [ 4.98621655e-03 9.99775278e-01 -2.06041656e-02 -4.64392633e-02] [ 9.02671182e-02 2.00703025e-02 9.95715336e-01 5.19998342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.722557844 meters Centerline goodness : 0.254673 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.04, Z:0.52 [[ 9.95897290e-01 -7.27164174e-03 -9.01981752e-02 -1.66036283e+01] [ 5.39437431e-03 9.99764102e-01 -2.10390466e-02 -4.41871493e-02] [ 9.03298861e-02 2.04661668e-02 9.95701586e-01 5.20330609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.782557844 meters Centerline goodness : 0.255499 with order 3 Centerline is valid? [False, False] Translation: X:-16.60, Y:-0.04, Z:0.52 [[ 9.95863821e-01 -7.47894700e-03 -9.05500676e-02 -1.66026483e+01] [ 5.57056310e-03 9.99757400e-01 -2.13098720e-02 -4.27792808e-02] [ 9.06874755e-02 2.07173157e-02 9.95663886e-01 5.20231235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.842557844 meters Centerline goodness : 0.252979 with order 3 Centerline is valid? [False, False] Translation: X:-16.65, Y:-0.04, Z:0.52 [[ 9.95640125e-01 -6.01295454e-03 -9.30837558e-02 -1.66469508e+01] [ 4.19785749e-03 9.99797455e-01 -1.96831475e-02 -3.79707852e-02] [ 9.31832561e-02 1.92065791e-02 9.95463705e-01 5.17099634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.902557844 meters Centerline goodness : 0.331938 with order 1 Centerline is valid? [False, False] Translation: X:-16.63, Y:-0.04, Z:0.52 [[ 9.95830086e-01 2.62026377e-03 -9.11897663e-02 -1.66259154e+01] [-4.49621079e-03 9.99782348e-01 -2.03725548e-02 -3.61680454e-02] [ 9.11165372e-02 2.06976114e-02 9.95625123e-01 5.18917776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.962557844 meters Centerline goodness : 0.256114 with order 3 Centerline is valid? [False, False] Translation: X:-16.63, Y:-0.03, Z:0.52 [[ 9.95809939e-01 6.02896753e-03 -9.12481089e-02 -1.66258732e+01] [-7.67658804e-03 9.99813584e-01 -1.77163018e-02 -3.16157244e-02] [ 9.11242878e-02 1.83425436e-02 9.95670586e-01 5.19215185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.022557844 meters Centerline goodness : 0.099103 with order 1 Centerline is valid? [False, False] Translation: X:-16.63, Y:-0.03, Z:0.52 [[ 9.95820200e-01 5.79196028e-03 -9.11514206e-02 -1.66261719e+01] [-7.48935424e-03 9.99804661e-01 -1.82906788e-02 -2.77841385e-02] [ 9.10276764e-02 1.88968927e-02 9.95669056e-01 5.19393629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.082557844 meters Centerline goodness : 0.332745 with order 1 Centerline is valid? [False, False] Translation: X:-16.63, Y:-0.02, Z:0.52 [[ 9.95804186e-01 5.16991836e-03 -9.13635348e-02 -1.66256526e+01] [-6.95887454e-03 9.99790042e-01 -1.92729353e-02 -2.27846786e-02] [ 9.12447128e-02 1.98278570e-02 9.95631086e-01 5.19609797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.142557844 meters Centerline goodness : 0.343905 with order 2 Centerline is valid? [False, False] Translation: X:-16.62, Y:-0.02, Z:0.52 [[ 9.95767499e-01 4.81216135e-03 -9.17819716e-02 -1.66243602e+01] [-6.65452591e-03 9.99782254e-01 -1.97778177e-02 -1.93334740e-02] [ 9.16668124e-02 2.03048735e-02 9.95582698e-01 5.19461106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.202557844 meters Centerline goodness : 0.096129 with order 1 Centerline is valid? [False, False] Translation: X:-16.65, Y:-0.01, Z:0.52 [[ 9.95862249e-01 -4.78124894e-03 -9.07497737e-02 -1.66468668e+01] [ 2.95130118e-03 9.99789816e-01 -2.02882552e-02 -1.04717566e-02] [ 9.08277028e-02 1.99364775e-02 9.95667045e-01 5.18067280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.262557844 meters Centerline goodness : 0.096754 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-0.00, Z:0.52 [[ 9.95800854e-01 -1.18798787e-02 -9.07718468e-02 -1.66696500e+01] [ 1.02775655e-02 9.99783372e-01 -1.80991878e-02 -4.24564333e-03] [ 9.09671993e-02 1.70902730e-02 9.95707232e-01 5.16854205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.322557844 meters Centerline goodness : 0.096163 with order 1 Centerline is valid? [False, False] Translation: X:-16.67, Y:-0.00, Z:0.52 [[ 9.95775833e-01 -1.23840094e-02 -9.09787191e-02 -1.66692823e+01] [ 1.07209229e-02 9.99766798e-01 -1.87459826e-02 -5.77567378e-04] [ 9.11896531e-02 1.76914206e-02 9.95676384e-01 5.17199206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.382557844 meters Centerline goodness : 0.155166 with order 3 Centerline is valid? [False, False] Translation: X:-16.72, Y:0.00, Z:0.51 [[ 9.95571072e-01 -1.35378264e-02 -9.30320776e-02 -1.67160978e+01] [ 1.17679107e-02 9.99739679e-01 -1.95471365e-02 3.03774068e-03] [ 9.32724852e-02 1.83657705e-02 9.95471216e-01 5.14682328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.442557844 meters SLAMing on 436.502557844 meters Centerline goodness : 0.339078 with order 1 Centerline is valid? [False, False] Translation: X:-16.70, Y:0.00, Z:0.52 [[ 9.95712862e-01 -6.02246218e-03 -9.23018223e-02 -1.66985987e+01] [ 4.09227835e-03 9.99769276e-01 -2.10866743e-02 2.92372825e-03] [ 9.24075198e-02 2.06185481e-02 9.95507773e-01 5.17058993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.562557844 meters Centerline goodness : 0.187179 with order 1 Centerline is valid? [False, False] Translation: X:-16.69, Y:0.00, Z:0.51 [[ 9.95596784e-01 -4.09905081e-03 -9.36495648e-02 -1.66920722e+01] [ 2.29799854e-03 9.99810487e-01 -1.93315797e-02 4.55484411e-03] [ 9.37110581e-02 1.90312520e-02 9.95417525e-01 5.14061830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.622557844 meters Centerline goodness : 0.130127 with order 1 Centerline is valid? [False, False] Translation: X:-16.69, Y:0.01, Z:0.51 [[ 9.95579533e-01 -4.29908195e-03 -9.38238331e-02 -1.66914599e+01] [ 2.46409285e-03 9.99803591e-01 -1.96649093e-02 5.92610847e-03] [ 9.38899463e-02 1.93467905e-02 9.95394585e-01 5.13849717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68255784400003 meters SLAMing on 436.74255784400003 meters Centerline goodness : 0.218350 with order 3 Centerline is valid? [False, False] Translation: X:-16.73, Y:0.02, Z:0.51 [[ 9.95300437e-01 -4.08572822e-03 -9.67488887e-02 -1.67339437e+01] [ 2.18761807e-03 9.99803210e-01 -1.97168877e-02 1.79927862e-02] [ 9.68104073e-02 1.94125773e-02 9.95113510e-01 5.10617895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80255784400003 meters Centerline goodness : 0.184724 with order 3 Centerline is valid? [False, False] Translation: X:-16.75, Y:0.03, Z:0.51 [[ 9.95133353e-01 -1.21731431e-02 -9.77825405e-02 -1.67528394e+01] [ 1.03724179e-02 9.99767520e-01 -1.89029052e-02 2.90077757e-02] [ 9.79899158e-02 1.77966701e-02 9.95028268e-01 5.07577427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.862557844 meters Centerline goodness : 0.132674 with order 1 Centerline is valid? [False, False] Translation: X:-16.75, Y:0.03, Z:0.51 [[ 9.95116243e-01 -1.23414113e-02 -9.79354481e-02 -1.67525766e+01] [ 1.05327523e-02 9.99764697e-01 -1.89634541e-02 2.94172143e-02] [ 9.81464394e-02 1.78393114e-02 9.95012078e-01 5.07675348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.922557844 meters Centerline goodness : 0.184012 with order 1 Centerline is valid? [False, False] Translation: X:-16.75, Y:0.03, Z:0.51 [[ 9.95141155e-01 -1.30889297e-02 -9.75846401e-02 -1.67534571e+01] [ 1.12569187e-02 9.99750354e-01 -1.93005681e-02 2.84986615e-02] [ 9.78129022e-02 1.81082873e-02 9.95040063e-01 5.07567385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.982557844 meters Centerline goodness : 0.112282 with order 2 Centerline is valid? [False, False] Translation: X:-16.75, Y:0.03, Z:0.51 [[ 9.95124950e-01 -1.32843106e-02 -9.77233898e-02 -1.67527700e+01] [ 1.14718324e-02 9.99752038e-01 -1.90856043e-02 2.68495491e-02] [ 9.79526972e-02 1.78714947e-02 9.95030592e-01 5.06943315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.042557844 meters Centerline goodness : 0.325991 with order 2 Centerline is valid? [False, False] Translation: X:-16.75, Y:0.03, Z:0.51 [[ 9.95139903e-01 -1.32289218e-02 -9.75785261e-02 -1.67530690e+01] [ 1.14538428e-02 9.99758986e-01 -1.87290944e-02 2.50512882e-02] [ 9.78027741e-02 1.75204201e-02 9.95051583e-01 5.06714959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.102557844 meters Centerline goodness : 0.174537 with order 1 Centerline is valid? [False, False] Translation: X:-16.78, Y:0.02, Z:0.50 [[ 9.95322584e-01 -5.63198572e-03 -9.64429084e-02 -1.67768111e+01] [ 3.71954266e-03 9.99793099e-01 -1.99981075e-02 2.10989522e-02] [ 9.65355833e-02 1.95458445e-02 9.95137599e-01 5.04377265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.162557844 meters Centerline goodness : 0.279240 with order 2 Centerline is valid? [False, False] Translation: X:-16.78, Y:0.02, Z:0.50 [[ 9.95395599e-01 -1.50301723e-03 -9.58401973e-02 -1.67788549e+01] [-5.49379534e-05 9.99867941e-01 -1.62510490e-02 2.14249268e-02] [ 9.58519664e-02 1.61814879e-02 9.95264065e-01 5.04905963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.222557844 meters Centerline goodness : 0.266974 with order 2 Centerline is valid? [False, False] Translation: X:-16.78, Y:0.02, Z:0.51 [[ 9.95456327e-01 -1.66295777e-03 -9.52047016e-02 -1.67808835e+01] [ 5.59044704e-05 9.99857518e-01 -1.68801576e-02 2.46715630e-02] [ 9.52192076e-02 1.67981373e-02 9.95314586e-01 5.05594397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.282557844 meters Centerline goodness : 0.152017 with order 3 Centerline is valid? [False, False] Translation: X:-16.78, Y:0.03, Z:0.51 [[ 9.95463414e-01 -1.85748418e-03 -9.51269762e-02 -1.67815793e+01] [ 2.08370594e-04 9.99849579e-01 -1.73429193e-02 2.70718784e-02] [ 9.51448813e-02 1.72444200e-02 9.95314062e-01 5.06315440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.342557844 meters Centerline goodness : 0.310676 with order 2 Centerline is valid? [False, False] Translation: X:-16.80, Y:0.04, Z:0.50 [[ 9.95267209e-01 -9.48141421e-03 -9.67123817e-02 -1.67991405e+01] [ 7.97786374e-03 9.99841417e-01 -1.59214820e-02 3.56397642e-02] [ 9.68480029e-02 1.50745707e-02 9.95185019e-01 5.03155098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.402557844 meters Centerline goodness : 0.186146 with order 3 Centerline is valid? [False, False] Translation: X:-16.80, Y:0.04, Z:0.50 [[ 9.95212364e-01 -9.77408284e-03 -9.72461719e-02 -1.67973308e+01] [ 8.22762368e-03 9.99833443e-01 -1.62908428e-02 3.75106079e-02] [ 9.73892030e-02 1.54127432e-02 9.95127022e-01 5.02524775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.462557844 meters Centerline goodness : 0.344930 with order 2 Centerline is valid? [False, False] Translation: X:-16.79, Y:0.04, Z:0.50 [[ 9.95099766e-01 -1.05298841e-02 -9.83136667e-02 -1.67939324e+01] [ 8.94129659e-03 9.99822480e-01 -1.65850058e-02 3.63891944e-02] [ 9.84708522e-02 1.56246837e-02 9.95017266e-01 5.01505504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.522557844 meters Centerline goodness : 0.144578 with order 3 Centerline is valid? [False, False] Translation: X:-16.79, Y:0.03, Z:0.50 [[ 9.95124738e-01 -1.05512857e-02 -9.80582815e-02 -1.67948062e+01] [ 8.99454606e-03 9.99826621e-01 -1.63041922e-02 3.44340604e-02] [ 9.82133104e-02 1.53427153e-02 9.95047108e-01 5.01645953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.582557844 meters Centerline goodness : 0.196271 with order 3 Centerline is valid? [False, False] Translation: X:-16.84, Y:0.04, Z:0.50 [[ 9.94999348e-01 -9.53010097e-03 -9.94257195e-02 -1.68434505e+01] [ 8.01927665e-03 9.99846401e-01 -1.55841176e-02 3.77934088e-02] [ 9.95589661e-02 1.47088645e-02 9.94922943e-01 4.99282425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.642557844 meters Centerline goodness : 0.144134 with order 3 Centerline is valid? [False, False] Translation: X:-16.84, Y:0.04, Z:0.50 [[ 9.95027224e-01 -5.52119378e-03 -9.94501876e-02 -1.68436886e+01] [ 4.33131752e-03 9.99916483e-01 -1.21764860e-02 3.94457120e-02] [ 9.95091105e-02 1.16851847e-02 9.94968036e-01 4.99561565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.702557844 meters Centerline goodness : 0.148644 with order 3 Centerline is valid? [False, False] Translation: X:-16.84, Y:0.04, Z:0.50 [[ 9.95035060e-01 -1.43641405e-03 -9.95146495e-02 -1.68434868e+01] [ 5.66270361e-04 9.99961369e-01 -8.77156978e-03 4.18907349e-02] [ 9.95234047e-02 8.67166727e-03 9.94997434e-01 4.99511279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.762557844 meters Centerline goodness : 0.088242 with order 1 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.05, Z:0.50 [[ 9.95117727e-01 1.22795984e-03 -9.86873967e-02 -1.68476170e+01] [-1.94109562e-03 9.99972694e-01 -7.13051888e-03 4.91312557e-02] [ 9.86759459e-02 7.28726741e-03 9.95092937e-01 5.01625215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.822557844 meters Centerline goodness : 0.111931 with order 3 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.05, Z:0.50 [[ 9.95110782e-01 9.23185323e-04 -9.87607222e-02 -1.68472062e+01] [-1.70623185e-03 9.99967775e-01 -7.84455721e-03 5.30454910e-02] [ 9.87502977e-02 7.97471214e-03 9.95080290e-01 5.01417180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.882557844 meters Centerline goodness : 0.101316 with order 1 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.06, Z:0.50 [[ 9.95119631e-01 6.89438943e-04 -9.86734234e-02 -1.68475667e+01] [-1.51586329e-03 9.99964400e-01 -8.30062336e-03 5.55496793e-02] [ 9.86641879e-02 8.40968868e-03 9.95085250e-01 5.01613542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.942557844 meters Centerline goodness : 0.144469 with order 2 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.06, Z:0.50 [[ 9.95130846e-01 5.77990105e-04 -9.85609719e-02 -1.68485771e+01] [-1.43772299e-03 9.99961537e-01 -8.65205172e-03 5.75942261e-02] [ 9.85521802e-02 8.75162692e-03 9.95093401e-01 5.02701063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.002557844 meters Centerline goodness : 0.124585 with order 2 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.06, Z:0.50 [[ 9.95091901e-01 3.62818036e-04 -9.89544229e-02 -1.68474756e+01] [-1.28506989e-03 9.99956333e-01 -9.25638708e-03 6.05314078e-02] [ 9.89467435e-02 9.33811916e-03 9.95048914e-01 5.02692557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.062557844 meters Centerline goodness : 0.147774 with order 3 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.06, Z:0.50 [[ 9.95125095e-01 2.74733668e-04 -9.86203339e-02 -1.68486255e+01] [-1.26113925e-03 9.99949803e-01 -9.93985110e-03 6.44438403e-02] [ 9.86126526e-02 1.00157692e-02 9.95075489e-01 5.03247672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.122557844 meters Centerline goodness : 0.302319 with order 1 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.07, Z:0.50 [[ 9.95158721e-01 2.58383609e-03 -9.82468503e-02 -1.68513424e+01] [-3.40252700e-03 9.99960866e-01 -8.16636309e-03 6.87137423e-02] [ 9.82219050e-02 8.46111501e-03 9.95128568e-01 5.04828268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18255784400003 meters Centerline goodness : 0.161862 with order 3 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.07, Z:0.50 [[ 9.95008376e-01 4.66473956e-03 -9.96823523e-02 -1.68461660e+01] [-5.35648619e-03 9.99963389e-01 -6.67299512e-03 7.45505736e-02] [ 9.96475750e-02 7.17363318e-03 9.94996935e-01 5.03552975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24255784400003 meters Centerline goodness : 0.123866 with order 2 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.08, Z:0.50 [[ 9.95017520e-01 4.31504787e-03 -9.96067994e-02 -1.68460932e+01] [-5.08927905e-03 9.99958773e-01 -7.52008756e-03 7.91686003e-02] [ 9.95702434e-02 7.98954567e-03 9.94998459e-01 5.03346781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30255784400003 meters Centerline goodness : 0.150835 with order 3 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.09, Z:0.50 [[ 9.95040698e-01 7.75825363e-03 -9.91656160e-02 -1.68470994e+01] [-8.32165878e-03 9.99951492e-01 -5.26908303e-03 8.69704925e-02] [ 9.91199268e-02 6.06817447e-03 9.95056992e-01 5.03409994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.362557844 meters Centerline goodness : 0.148029 with order 3 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.09, Z:0.50 [[ 9.95011508e-01 7.34164608e-03 -9.94896971e-02 -1.68459854e+01] [-7.99957100e-03 9.99948685e-01 -6.21567745e-03 9.43742121e-02] [ 9.94389584e-02 6.98054549e-03 9.95019178e-01 5.03275333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.422557844 meters Centerline goodness : 0.147084 with order 3 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.10, Z:0.50 [[ 9.95008313e-01 6.68703297e-03 -9.95677710e-02 -1.68456506e+01] [-7.43325409e-03 9.99946986e-01 -7.12551009e-03 9.82908350e-02] [ 9.95148440e-02 7.83005432e-03 9.95005269e-01 5.03151162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.482557844 meters Centerline goodness : 0.181632 with order 3 Centerline is valid? [False, False] Translation: X:-16.85, Y:0.10, Z:0.50 [[ 9.95089356e-01 5.69254511e-03 -9.88168476e-02 -1.68476810e+01] [-6.49176171e-03 9.99948755e-01 -7.76820553e-03 9.86297181e-02] [ 9.87675629e-02 8.37155406e-03 9.95075317e-01 5.03073963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.542557844 meters Centerline goodness : 0.176268 with order 3 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.10, Z:0.50 [[ 9.94883979e-01 -3.35135248e-03 -1.00968492e-01 -1.68659800e+01] [ 2.63669745e-03 9.99970527e-01 -7.21062219e-03 1.02434012e-01] [ 1.00989682e-01 6.90750913e-03 9.94863493e-01 4.99919016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.602557844 meters Centerline goodness : 0.133656 with order 2 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.10, Z:0.50 [[ 9.94888839e-01 -3.31429223e-03 -1.00921818e-01 -1.68662163e+01] [ 2.61791561e-03 9.99971850e-01 -7.03181856e-03 1.01220473e-01] [ 1.00942282e-01 6.73167300e-03 9.94869509e-01 4.99998454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.662557844 meters Centerline goodness : 0.133795 with order 2 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.10, Z:0.50 [[ 9.95008504e-01 -4.82274438e-04 -9.97889994e-02 -1.68708339e+01] [ 3.28124086e-05 9.99989849e-01 -4.50571626e-03 1.01319088e-01] [ 9.97901594e-02 4.47995168e-03 9.94998419e-01 5.01453246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.722557844 meters Centerline goodness : 0.140937 with order 2 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.10, Z:0.50 [[ 9.95003033e-01 -6.30764464e-04 -9.98427074e-02 -1.68706254e+01] [ 1.71320907e-04 9.99989358e-01 -4.61018076e-03 1.00148371e-01] [ 9.98445529e-02 4.57003870e-03 9.94992553e-01 5.01360488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.782557844 meters Centerline goodness : 0.137847 with order 2 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.10, Z:0.50 [[ 9.95014743e-01 -2.79342883e-04 -9.97275469e-02 -1.68712105e+01] [-1.07955044e-04 9.99992474e-01 -3.87814253e-03 9.63771567e-02] [ 9.97278797e-02 3.86957508e-03 9.95007224e-01 5.01556949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.842557844 meters Centerline goodness : 0.127794 with order 3 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.09, Z:0.50 [[ 9.95017622e-01 -3.73685087e-03 -9.96291486e-02 -1.68715960e+01] [ 3.15170613e-03 9.99976853e-01 -6.02997449e-03 8.71253259e-02] [ 9.96493756e-02 5.68592908e-03 9.95006368e-01 5.01439796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.902557844 meters Centerline goodness : 0.198899 with order 1 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.08, Z:0.50 [[ 9.95017889e-01 -3.50861732e-03 -9.96347801e-02 -1.68716018e+01] [ 2.99669697e-03 9.99981533e-01 -5.28716411e-03 8.28146104e-02] [ 9.96514908e-02 4.96224763e-03 9.95010028e-01 5.01260316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.962557844 meters Centerline goodness : 0.138892 with order 3 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.07, Z:0.50 [[ 9.95001569e-01 -2.85502769e-03 -9.98184648e-02 -1.68715851e+01] [ 2.50477352e-03 9.99990260e-01 -3.63406004e-03 7.27844407e-02] [ 9.98278679e-02 3.36587279e-03 9.94999029e-01 5.01463477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.022557844 meters Centerline goodness : 0.184070 with order 3 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.07, Z:0.50 [[ 9.95039509e-01 -2.54493140e-03 -9.94479741e-02 -1.68732549e+01] [ 2.24699174e-03 9.99992646e-01 -3.10782734e-03 7.02470323e-02] [ 9.94551519e-02 2.86895222e-03 9.95037910e-01 5.02351404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.082557844 meters Centerline goodness : 0.190129 with order 3 Centerline is valid? [False, False] Translation: X:-16.88, Y:0.07, Z:0.50 [[ 9.95107618e-01 -2.19308680e-03 -9.87725602e-02 -1.68752020e+01] [ 1.95304316e-03 9.99994900e-01 -2.52689090e-03 6.74157427e-02] [ 9.87775982e-02 2.32162131e-03 9.95106827e-01 5.02488004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.142557844 meters Centerline goodness : 0.139827 with order 2 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.06, Z:0.50 [[ 9.95075979e-01 -1.94449504e-03 -9.90959854e-02 -1.68740969e+01] [ 1.76356290e-03 9.99996614e-01 -1.91339102e-03 6.40788920e-02] [ 9.90993705e-02 1.72920744e-03 9.95076040e-01 5.02003584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.202557844 meters Centerline goodness : 0.292423 with order 2 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.06, Z:0.50 [[ 9.95026041e-01 -1.64799477e-03 -9.96015187e-02 -1.68729798e+01] [ 1.51521644e-03 9.99997860e-01 -1.40872782e-03 6.21050191e-02] [ 9.96036271e-02 1.25080300e-03 9.95026408e-01 5.02166277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.262557844 meters Centerline goodness : 0.174536 with order 1 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.06, Z:0.50 [[ 9.95066946e-01 -1.25990088e-03 -9.91977069e-02 -1.68743421e+01] [ 1.14651533e-03 9.99998623e-01 -1.20002400e-03 6.20122836e-02] [ 9.91990822e-02 1.08037253e-03 9.95067020e-01 5.02687944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.322557844 meters Centerline goodness : 0.135802 with order 3 Centerline is valid? [False, False] Translation: X:-16.88, Y:0.07, Z:0.50 [[ 9.95091787e-01 2.75172918e-03 -9.89179660e-02 -1.68751381e+01] [-2.57545175e-03 9.99994860e-01 1.90970513e-03 6.57417681e-02] [ 9.89227125e-02 -1.64557345e-03 9.95093759e-01 5.02857112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.382557844 meters Centerline goodness : 0.137151 with order 2 Centerline is valid? [False, False] Translation: X:-16.87, Y:0.07, Z:0.50 [[ 9.95058040e-01 6.46942691e-03 -9.90840236e-02 -1.68748749e+01] [-6.02066890e-03 9.99970223e-01 4.82741074e-03 6.89362140e-02] [ 9.91123038e-02 -4.20700177e-03 9.95067361e-01 5.03130663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.442557844 meters Centerline goodness : 0.139492 with order 2 Centerline is valid? [False, False] Translation: X:-16.88, Y:0.08, Z:0.50 [[ 9.95050787e-01 1.05220351e-02 -9.88089985e-02 -1.68757696e+01] [-9.84324915e-03 9.99924507e-01 7.35467407e-03 7.73487132e-02] [ 9.88789252e-02 -6.34567263e-03 9.95079238e-01 5.03585917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.502557844 meters Centerline goodness : 0.137997 with order 2 Centerline is valid? [False, False] Translation: X:-16.88, Y:0.08, Z:0.50 [[ 9.95006260e-01 1.41601964e-02 -9.88029970e-02 -1.68758815e+01] [-1.32470130e-02 9.99863319e-01 9.89241403e-03 8.32200963e-02] [ 9.89295711e-02 -8.53416929e-03 9.95057841e-01 5.03867993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.562557844 meters Centerline goodness : 0.126638 with order 2 Centerline is valid? [False, False] Translation: X:-16.88, Y:0.09, Z:0.50 [[ 9.94934509e-01 1.79806521e-02 -9.89040890e-02 -1.68754593e+01] [-1.68058162e-02 9.99778126e-01 1.26989311e-02 8.86320703e-02] [ 9.91104798e-02 -1.09724408e-02 9.95015939e-01 5.03917928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.622557844 meters Centerline goodness : 0.145051 with order 3 Centerline is valid? [False, False] Translation: X:-16.88, Y:0.10, Z:0.50 [[ 9.94893465e-01 2.12199298e-02 -9.86747601e-02 -1.68766225e+01] [-1.98851377e-02 9.99697248e-01 1.44911610e-02 9.74762456e-02] [ 9.89523876e-02 -1.24550002e-02 9.95014220e-01 5.04687323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68255784400003 meters Centerline goodness : 0.140621 with order 3 Centerline is valid? [False, False] Translation: X:-16.88, Y:0.10, Z:0.50 [[ 9.94829916e-01 2.50067655e-02 -9.84281426e-02 -1.68771733e+01] [-2.34116538e-02 9.99575731e-01 1.73277907e-02 1.02234409e-01] [ 9.88196946e-02 -1.49338390e-02 9.94993291e-01 5.04744046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74255784400003 meters Centerline goodness : 0.158293 with order 2 Centerline is valid? [False, False] Translation: X:-16.89, Y:0.12, Z:0.50 [[ 0.9950198 0.01907466 -0.09783534 -16.89462973] [ -0.01729907 0.99967048 0.01896509 0.11697148] [ 0.09816485 -0.01717818 0.9950219 0.50082291] [ 0. 0. 0. 1. ]] SLAMing on 439.80255784400003 meters Centerline goodness : 0.147451 with order 2 Centerline is valid? [False, False] Translation: X:-16.89, Y:0.12, Z:0.50 [[ 9.94990405e-01 1.88300422e-02 -9.81810761e-02 -1.68937334e+01] [-1.71250541e-02 9.99688067e-01 1.81797154e-02 1.21088956e-01] [ 9.84927749e-02 -1.64072861e-02 9.95002500e-01 5.00739235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.862557844 meters Centerline goodness : 0.220572 with order 3 Centerline is valid? [False, False] Translation: X:-16.89, Y:0.13, Z:0.50 [[ 0.99490303 0.02268494 -0.0982515 -16.8930797 ] [ -0.02070848 0.9995631 0.02108971 0.12618773] [ 0.098687 -0.01894758 0.99493812 0.50037797] [ 0. 0. 0. 1. ]] SLAMing on 439.922557844 meters Centerline goodness : 0.172914 with order 3 Centerline is valid? [False, False] Translation: X:-16.89, Y:0.13, Z:0.50 [[ 0.99495356 0.02243701 -0.09779567 -16.89439712] [ -0.02053616 0.99958096 0.02040045 0.12933525] [ 0.09821241 -0.01828915 0.9949974 0.50044147] [ 0. 0. 0. 1. ]] SLAMing on 439.982557844 meters Centerline goodness : 0.129652 with order 3 Centerline is valid? [False, False] Translation: X:-16.91, Y:0.14, Z:0.50 [[ 9.95278677e-01 1.46594141e-02 -9.59450665e-02 -1.69147507e+01] [-1.26852784e-02 9.99695762e-01 2.11534279e-02 1.38160573e-01] [ 9.62259732e-02 -1.98364658e-02 9.95161834e-01 4.97387752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.042557844 meters Centerline goodness : 0.145696 with order 3 Centerline is valid? [False, False] Translation: X:-16.92, Y:0.14, Z:0.50 [[ 9.95322869e-01 1.45788720e-02 -9.54978721e-02 -1.69164907e+01] [-1.26478297e-02 9.99703756e-01 2.07950066e-02 1.40148937e-01] [ 9.57727492e-02 -1.94899048e-02 9.95212402e-01 4.98068495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.102557844 meters Centerline goodness : 0.159706 with order 2 Centerline is valid? [False, False] Translation: X:-16.92, Y:0.14, Z:0.50 [[ 9.95307198e-01 1.44429377e-02 -9.56816769e-02 -1.69155813e+01] [-1.25267007e-02 9.99709366e-01 2.05977234e-02 1.40334277e-01] [ 9.59513602e-02 -1.93024866e-02 9.95198850e-01 4.97362248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.162557844 meters Centerline goodness : 0.171354 with order 3 Centerline is valid? [False, False] Translation: X:-16.92, Y:0.14, Z:0.50 [[ 9.95314451e-01 1.44546628e-02 -9.56044315e-02 -1.69157981e+01] [-1.25417256e-02 9.99709550e-01 2.05796285e-02 1.40327403e-01] [ 9.58741347e-02 -1.92841571e-02 9.95206648e-01 4.97306261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.222557844 meters Centerline goodness : 0.163179 with order 2 Centerline is valid? [False, False] Translation: X:-16.92, Y:0.14, Z:0.50 [[ 9.95372978e-01 1.45756027e-02 -9.49746641e-02 -1.69181980e+01] [-1.26730180e-02 9.99707370e-01 2.06050507e-02 1.40171850e-01] [ 9.52472028e-02 -1.93060950e-02 9.95266419e-01 4.98135481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.282557844 meters Centerline goodness : 0.168432 with order 3 Centerline is valid? [False, False] Translation: X:-16.92, Y:0.14, Z:0.50 [[ 9.95355267e-01 1.52555791e-02 -9.50534540e-02 -1.69178452e+01] [-1.33438521e-02 9.99696360e-01 2.07154333e-02 1.41093221e-01] [ 9.53406179e-02 -1.93508364e-02 9.95256606e-01 4.97313936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.342557844 meters Centerline goodness : 0.242628 with order 3 Centerline is valid? [False, False] Translation: X:-16.93, Y:0.15, Z:0.49 [[ 9.95234301e-01 8.40060969e-03 -9.71499617e-02 -1.69348777e+01] [-6.27095792e-03 9.99733751e-01 2.22058822e-02 1.49146732e-01] [ 9.73106386e-02 -2.14908324e-02 9.95022002e-01 4.94016810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.402557844 meters Centerline goodness : 0.093265 with order 1 Centerline is valid? [False, False] Translation: X:-16.93, Y:0.15, Z:0.49 [[ 9.95182634e-01 9.23874815e-03 -9.76021022e-02 -1.69335717e+01] [-7.09999019e-03 9.99727501e-01 2.22376733e-02 1.51024714e-01] [ 9.77809539e-02 -2.14375723e-02 9.94977043e-01 4.93693414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.462557844 meters Centerline goodness : 0.157898 with order 1 Centerline is valid? [False, False] Translation: X:-16.97, Y:0.15, Z:0.49 [[ 9.94772534e-01 1.16719252e-02 -1.01446395e-01 -1.69717325e+01] [-9.38112530e-03 9.99690777e-01 2.30292085e-02 1.53235455e-01] [ 1.01683821e-01 -2.19571427e-02 9.94574424e-01 4.87759864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.522557844 meters Centerline goodness : 0.109516 with order 1 Centerline is valid? [False, False] Translation: X:-16.97, Y:0.16, Z:0.49 [[ 9.94834205e-01 1.20872810e-02 -1.00790885e-01 -1.69738616e+01] [-9.81043448e-03 9.99686063e-01 2.30549670e-02 1.55227659e-01] [ 1.01037915e-01 -2.19470674e-02 9.94640471e-01 4.88171303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.582557844 meters Centerline goodness : 0.105104 with order 1 Centerline is valid? [False, False] Translation: X:-17.02, Y:0.16, Z:0.48 [[ 9.95300097e-01 1.28554637e-02 -9.59815332e-02 -1.70193953e+01] [-1.08162749e-02 9.99705238e-01 2.17357957e-02 1.57346614e-01] [ 9.62326653e-02 -2.05954770e-02 9.95145768e-01 4.84003508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.642557844 meters Centerline goodness : 0.106671 with order 1 Centerline is valid? [False, False] Translation: X:-17.02, Y:0.16, Z:0.48 [[ 9.95258916e-01 1.29676685e-02 -9.63925771e-02 -1.70179843e+01] [-1.09348130e-02 9.99707156e-01 2.15877702e-02 1.58952988e-01] [ 9.66442922e-02 -2.04313860e-02 9.95109260e-01 4.83409748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.702557844 meters Centerline goodness : 0.097619 with order 1 Centerline is valid? [False, False] Translation: X:-17.02, Y:0.16, Z:0.48 [[ 9.95279445e-01 1.29544792e-02 -9.61821617e-02 -1.70189336e+01] [-1.09315805e-02 9.99708455e-01 2.15292002e-02 1.58925295e-01] [ 9.64330199e-02 -2.03761473e-02 9.95130889e-01 4.83898859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.762557844 meters Centerline goodness : 0.241796 with order 3 Centerline is valid? [False, False] Translation: X:-17.02, Y:0.16, Z:0.48 [[ 9.95316231e-01 1.29020771e-02 -9.58078079e-02 -1.70204149e+01] [-1.08898169e-02 9.99709617e-01 2.14963589e-02 1.58628492e-01] [ 9.60573346e-02 -2.03523455e-02 9.95167710e-01 4.84555108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.822557844 meters Centerline goodness : 0.097083 with order 1 Centerline is valid? [False, False] Translation: X:-17.02, Y:0.16, Z:0.48 [[ 9.95325527e-01 1.29280057e-02 -9.57076924e-02 -1.70209311e+01] [-1.09147424e-02 9.99708637e-01 2.15292753e-02 1.58483082e-01] [ 9.59581373e-02 -2.03840125e-02 9.95176632e-01 4.84849346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.882557844 meters Centerline goodness : 0.102881 with order 1 Centerline is valid? [False, False] Translation: X:-17.02, Y:0.16, Z:0.49 [[ 9.95317336e-01 1.30840763e-02 -9.57716465e-02 -1.70210912e+01] [-1.10375806e-02 9.99699954e-01 2.18671730e-02 1.56521031e-01] [ 9.60290224e-02 -2.07076891e-02 9.95163111e-01 4.85296714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.942557844 meters Centerline goodness : 0.150432 with order 1 Centerline is valid? [False, False] Translation: X:-17.02, Y:0.15, Z:0.49 [[ 9.95316914e-01 1.33753079e-02 -9.57357958e-02 -1.70212318e+01] [-1.12674438e-02 9.99682799e-01 2.25243627e-02 1.53008447e-01] [ 9.60066985e-02 -2.13401815e-02 9.95151903e-01 4.85437722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.002557844 meters SLAMing on 441.062557844 meters SLAMing on 441.122557844 meters Centerline goodness : 0.091076 with order 1 Centerline is valid? [False, False] Translation: X:-17.07, Y:0.12, Z:0.48 [[ 9.95151661e-01 9.80509065e-03 -9.78623123e-02 -1.70667513e+01] [-7.81559297e-03 9.99755344e-01 2.06922501e-02 1.21090135e-01] [ 9.80412590e-02 -1.98270751e-02 9.94984823e-01 4.83472340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18255784400003 meters SLAMing on 441.24255784400003 meters Centerline goodness : 0.178650 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:0.10, Z:0.48 [[ 0.99486833 0.01953369 -0.09927461 -17.12016268] [ -0.0174336 0.99960644 0.02197806 0.09836291] [ 0.09966485 -0.02013456 0.99481733 0.47526585] [ 0. 0. 0. 1. ]] SLAMing on 441.30255784400003 meters Centerline goodness : 0.176214 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:0.09, Z:0.48 [[ 9.94919996e-01 1.60288497e-02 -9.93844888e-02 -1.71200553e+01] [-1.42024582e-02 9.99717513e-01 1.90574209e-02 9.44944902e-02] [ 9.96618825e-02 -1.75491050e-02 9.94866593e-01 4.75172147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.362557844 meters Centerline goodness : 0.183048 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:0.09, Z:0.48 [[ 9.94952815e-01 1.23070492e-02 -9.95863020e-02 -1.71199005e+01] [-1.07481454e-02 9.99811402e-01 1.61752222e-02 8.98965585e-02] [ 9.97665895e-02 -1.50232148e-02 9.94897447e-01 4.75425960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.422557844 meters Centerline goodness : 0.156232 with order 3 Centerline is valid? [False, False] Translation: X:-17.12, Y:0.08, Z:0.48 [[ 9.95017060e-01 8.89375252e-03 -9.93073570e-02 -1.71204533e+01] [-7.56609301e-03 9.99877006e-01 1.37378242e-02 8.39862675e-02] [ 9.94173235e-02 -1.29180007e-02 9.94961970e-01 4.75287468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.482557844 meters Centerline goodness : 0.179620 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:0.08, Z:0.48 [[ 9.95130037e-01 6.72674044e-03 -9.83410406e-02 -1.71247035e+01] [-5.57069876e-03 9.99912176e-01 1.20252948e-02 7.97333221e-02] [ 9.84132950e-02 -1.14189037e-02 9.95080113e-01 4.76852775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.542557844 meters Centerline goodness : 0.171691 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:0.08, Z:0.48 [[ 9.95095238e-01 6.94581005e-03 -9.86773668e-02 -1.71237927e+01] [-5.75555784e-03 9.99907275e-01 1.23416122e-02 7.82208036e-02] [ 9.87539394e-02 -1.17131363e-02 9.95042945e-01 4.76780165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.602557844 meters Centerline goodness : 0.162657 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:0.08, Z:0.48 [[ 9.94972778e-01 7.27161762e-03 -9.98814009e-02 -1.71194548e+01] [-6.05071929e-03 9.99903302e-01 1.25209847e-02 7.78632846e-02] [ 9.99627904e-02 -1.18536846e-02 9.94920565e-01 4.75070016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.662557844 meters Centerline goodness : 0.167769 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:0.08, Z:0.48 [[ 9.95074035e-01 7.50029653e-03 -9.88504484e-02 -1.71234423e+01] [-6.26963690e-03 9.99899002e-01 1.27544807e-02 7.78442002e-02] [ 9.89361272e-02 -1.20718962e-02 9.95020559e-01 4.76704631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.722557844 meters Centerline goodness : 0.168856 with order 1 Centerline is valid? [False, False] Translation: X:-17.17, Y:0.07, Z:0.48 [[ 9.95055814e-01 6.39919792e-03 -9.91109354e-02 -1.71744896e+01] [-5.18077567e-03 9.99907874e-01 1.25460166e-02 7.39681378e-02] [ 9.91820892e-02 -1.19705153e-02 9.94997296e-01 4.75319421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.782557844 meters Centerline goodness : 0.164775 with order 3 Centerline is valid? [False, False] Translation: X:-17.15, Y:0.08, Z:0.48 [[ 9.95239047e-01 -2.21290176e-03 -9.74389166e-02 -1.71538409e+01] [ 3.49338075e-03 9.99909748e-01 1.29727108e-02 7.64212016e-02] [ 9.74014152e-02 -1.32513396e-02 9.95156956e-01 4.77234284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.842557844 meters Centerline goodness : 0.166009 with order 1 Centerline is valid? [False, False] Translation: X:-17.15, Y:0.08, Z:0.48 [[ 9.95199681e-01 -2.19273601e-03 -9.78406213e-02 -1.71521370e+01] [ 3.47320511e-03 9.99910515e-01 1.29188961e-02 7.68185516e-02] [ 9.78035384e-02 -1.31967018e-02 9.95118242e-01 4.76303898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.902557844 meters Centerline goodness : 0.167570 with order 1 Centerline is valid? [False, False] Translation: X:-17.15, Y:0.08, Z:0.48 [[ 9.95117665e-01 -1.82956752e-03 -9.86787030e-02 -1.71498243e+01] [ 3.11516054e-03 9.99912254e-01 1.28755675e-02 7.83705257e-02] [ 9.86464876e-02 -1.31201046e-02 9.95036046e-01 4.75988286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.962557844 meters Centerline goodness : 0.161411 with order 1 Centerline is valid? [False, False] Translation: X:-17.17, Y:0.07, Z:0.47 [[ 9.95149821e-01 6.93701332e-03 -9.81260022e-02 -1.71717161e+01] [-5.78306956e-03 9.99910801e-01 1.20393564e-02 7.47662944e-02] [ 9.82007667e-02 -1.14134938e-02 9.95101172e-01 4.72980033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.022557844 meters Centerline goodness : 0.160724 with order 1 Centerline is valid? [False, False] Translation: X:-17.18, Y:0.08, Z:0.47 [[ 9.95290981e-01 8.07908968e-03 -9.65949819e-02 -1.71760287e+01] [-6.87273218e-03 9.99894265e-01 1.28150247e-02 7.54416384e-02] [ 9.66883022e-02 -1.20908071e-02 9.95241270e-01 4.73276068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.082557844 meters Centerline goodness : 0.173461 with order 1 Centerline is valid? [False, False] Translation: X:-17.18, Y:0.08, Z:0.47 [[ 9.95270331e-01 7.98128684e-03 -9.68156397e-02 -1.71753904e+01] [-6.82007536e-03 9.99900859e-01 1.23190521e-02 7.76171458e-02] [ 9.69043632e-02 -1.16004971e-02 9.95226091e-01 4.72997220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.142557844 meters Centerline goodness : 0.155151 with order 1 Centerline is valid? [False, False] Translation: X:-17.18, Y:0.08, Z:0.47 [[ 9.95287953e-01 7.98824458e-03 -9.66337331e-02 -1.71758495e+01] [-6.84335467e-03 9.99902484e-01 1.21733591e-02 7.88017837e-02] [ 9.67215535e-02 -1.14546988e-02 9.95245563e-01 4.72854845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.202557844 meters Centerline goodness : 0.142674 with order 3 Centerline is valid? [False, False] Translation: X:-17.18, Y:0.08, Z:0.47 [[ 9.95369151e-01 4.02678806e-03 -9.60418540e-02 -1.71777692e+01] [-3.22953302e-03 9.99959040e-01 8.45512188e-03 7.92954255e-02] [ 9.60719671e-02 -8.10579715e-03 9.95341385e-01 4.73107167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.262557844 meters Centerline goodness : 0.142808 with order 3 Centerline is valid? [False, False] Translation: X:-17.18, Y:0.08, Z:0.47 [[ 9.95305250e-01 4.09033210e-03 -9.66991678e-02 -1.71755279e+01] [-3.26979448e-03 9.99957308e-01 8.64241011e-03 7.84343753e-02] [ 9.67303898e-02 -8.28564975e-03 9.95276132e-01 4.72477444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.322557844 meters Centerline goodness : 0.142860 with order 3 Centerline is valid? [False, False] Translation: X:-17.17, Y:0.08, Z:0.47 [[ 9.95301713e-01 5.27750308e-06 -9.68220001e-02 -1.71744851e+01] [ 4.92567275e-04 9.99986782e-01 5.11795342e-03 7.65167409e-02] [ 9.68207473e-02 -5.14159915e-03 9.95288555e-01 4.71623963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.382557844 meters Centerline goodness : 0.144570 with order 3 Centerline is valid? [False, False] Translation: X:-17.18, Y:0.07, Z:0.47 [[ 9.95326861e-01 1.69665086e-04 -9.65629931e-02 -1.71758028e+01] [ 3.85786339e-04 9.99983489e-01 5.73351936e-03 7.30768032e-02] [ 9.65623715e-02 -5.74397851e-03 9.95310361e-01 4.72570708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.442557844 meters Centerline goodness : 0.164798 with order 1 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.06, Z:0.47 [[ 9.94919686e-01 -1.31882626e-03 -1.00663194e-01 -1.72156771e+01] [ 1.86044362e-03 9.99984294e-01 5.28680258e-03 6.32214440e-02] [ 1.00654641e-01 -5.44722216e-03 9.94906514e-01 4.68055398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.502557844 meters Centerline goodness : 0.110474 with order 2 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.06, Z:0.47 [[ 9.94967340e-01 -1.01656899e-03 -1.00194607e-01 -1.72173458e+01] [ 1.63287186e-03 9.99980249e-01 6.06924139e-03 5.89860416e-02] [ 1.00186458e-01 -6.20230192e-03 9.94949348e-01 4.68775310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.562557844 meters Centerline goodness : 0.158609 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:0.05, Z:0.47 [[ 9.94908247e-01 -3.15950876e-03 -1.00735289e-01 -1.72140235e+01] [ 3.65311653e-03 9.99982207e-01 4.71595632e-03 5.17151491e-02] [ 1.00718596e-01 -5.05994158e-03 9.94902086e-01 4.67168322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.622557844 meters Centerline goodness : 0.233768 with order 3 Centerline is valid? [False, False] Translation: X:-17.21, Y:0.05, Z:0.47 [[ 9.94856655e-01 -2.89662059e-03 -1.01251394e-01 -1.72122327e+01] [ 3.45846225e-03 9.99979580e-01 5.37387907e-03 4.74157939e-02] [ 1.01233760e-01 -5.69641348e-03 9.94846358e-01 4.66650523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68255784400003 meters Centerline goodness : 0.220540 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:0.04, Z:0.47 [[ 9.94886707e-01 -2.27824650e-03 -1.00971527e-01 -1.72132361e+01] [ 2.91856432e-03 9.99976556e-01 6.19429823e-03 4.47200081e-02] [ 1.00955048e-01 -6.45731686e-03 9.94870032e-01 4.67044124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74255784400003 meters Centerline goodness : 0.150437 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:0.04, Z:0.47 [[ 9.94929048e-01 -2.05757297e-03 -1.00558224e-01 -1.72139682e+01] [ 2.71495614e-03 9.99975828e-01 6.40092348e-03 4.38494661e-02] [ 1.00542623e-01 -6.64147587e-03 9.94910585e-01 4.66575308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80255784400003 meters Centerline goodness : 0.156709 with order 1 Centerline is valid? [False, False] Translation: X:-17.21, Y:0.04, Z:0.47 [[ 9.94941255e-01 -1.73323559e-03 -1.00443496e-01 -1.72139739e+01] [ 2.40157829e-03 9.99975773e-01 6.53338183e-03 4.41868115e-02] [ 1.00429739e-01 -6.74155403e-03 9.94921313e-01 4.66037478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.862557844 meters Centerline goodness : 0.151656 with order 1 Centerline is valid? [False, False] Translation: X:-17.19, Y:0.04, Z:0.47 [[ 9.94980570e-01 7.44178478e-03 -9.97912059e-02 -1.71929857e+01] [-6.88872419e-03 9.99958952e-01 5.88561469e-03 4.41911832e-02] [ 9.98309092e-02 -5.16863817e-03 9.94990992e-01 4.68715114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.922557844 meters Centerline goodness : 0.113677 with order 3 Centerline is valid? [False, False] Translation: X:-17.20, Y:0.05, Z:0.47 [[ 9.95072100e-01 7.43395580e-03 -9.88749285e-02 -1.71960617e+01] [-6.94083896e-03 9.99961705e-01 5.33032913e-03 4.78830675e-02] [ 9.89107676e-02 -4.61778685e-03 9.95085592e-01 4.69370432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.982557844 meters Centerline goodness : 0.147470 with order 1 Centerline is valid? [False, False] Translation: X:-17.20, Y:0.05, Z:0.47 [[ 9.95106373e-01 7.27079507e-03 -9.85415773e-02 -1.71970269e+01] [-6.83695493e-03 9.99965396e-01 4.73958364e-03 5.17273339e-02] [ 9.85726279e-02 -4.04266556e-03 9.95121648e-01 4.69343632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.042557844 meters Centerline goodness : 0.331032 with order 2 Centerline is valid? [False, False] Translation: X:-17.20, Y:0.06, Z:0.47 [[ 9.95099827e-01 6.82063718e-03 -9.86398162e-02 -1.71970260e+01] [-6.46499240e-03 9.99971400e-01 3.92467566e-03 5.57681480e-02] [ 9.86637638e-02 -3.26773841e-03 9.95115462e-01 4.69566481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.102557844 meters Centerline goodness : 0.152773 with order 1 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.06, Z:0.47 [[ 9.94945512e-01 -3.76437213e-03 -1.00345690e-01 -1.72186575e+01] [ 4.10028931e-03 9.99986659e-01 3.14156521e-03 5.80914231e-02] [ 1.00332526e-01 -3.53713257e-03 9.94947673e-01 4.68111906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.162557844 meters Centerline goodness : 0.117037 with order 2 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.06, Z:0.47 [[ 9.94876091e-01 -3.98914874e-03 -1.01023020e-01 -1.72168463e+01] [ 4.32399885e-03 9.99985859e-01 3.09583637e-03 5.72459677e-02] [ 1.01009241e-01 -3.51679701e-03 9.94879272e-01 4.68081477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.222557844 meters Centerline goodness : 0.162338 with order 1 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.06, Z:0.47 [[ 9.94866420e-01 -3.92279470e-03 -1.01120814e-01 -1.72165279e+01] [ 4.27863828e-03 9.99985394e-01 3.30234818e-03 5.63276926e-02] [ 1.01106382e-01 -3.71805469e-03 9.94868672e-01 4.68067426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.282557844 meters Centerline goodness : 0.101818 with order 1 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.05, Z:0.47 [[ 9.94961886e-01 -6.57064817e-03 -1.00038350e-01 -1.72222304e+01] [ 6.76339012e-03 9.99975868e-01 1.58764906e-03 5.06790102e-02] [ 1.00025504e-01 -2.25624868e-03 9.94982315e-01 4.71172334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.342557844 meters Centerline goodness : 0.156387 with order 1 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.04, Z:0.47 [[ 9.94946134e-01 -8.34309767e-03 -1.00062893e-01 -1.72220049e+01] [ 8.47220024e-03 9.99963736e-01 8.65333412e-04 4.30572023e-02] [ 1.00052044e-01 -1.70871300e-03 9.94980738e-01 4.71285580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.402557844 meters Centerline goodness : 0.116130 with order 2 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.03, Z:0.47 [[ 9.94895518e-01 -1.14157152e-02 -1.00262603e-01 -1.72203342e+01] [ 1.13999306e-02 9.99934752e-01 -7.30387264e-04 3.20079239e-02] [ 1.00264399e-01 -4.16327707e-04 9.94960741e-01 4.70607243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.462557844 meters Centerline goodness : 0.133668 with order 2 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.02, Z:0.47 [[ 9.94964785e-01 -1.13188228e-02 -9.95839413e-02 -1.72226330e+01] [ 1.13934147e-02 9.99935077e-01 1.80334917e-04 2.30950685e-02] [ 9.95754348e-02 -1.31402803e-03 9.95029148e-01 4.71524361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.522557844 meters Centerline goodness : 0.137847 with order 2 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.01, Z:0.47 [[ 9.94994235e-01 -1.08431054e-02 -9.93423357e-02 -1.72230479e+01] [ 1.10358286e-02 9.99938136e-01 1.39065828e-03 1.20966383e-02] [ 9.93211110e-02 -2.48002196e-03 9.95052344e-01 4.71582390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.582557844 meters Centerline goodness : 0.139882 with order 3 Centerline is valid? [False, False] Translation: X:-17.22, Y:0.01, Z:0.47 [[ 9.94950264e-01 -1.03058142e-02 -9.98386773e-02 -1.72210505e+01] [ 1.05923648e-02 9.99941160e-01 2.34045852e-03 7.49479240e-03] [ 9.98086825e-02 -3.38616751e-03 9.95000885e-01 4.70801705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.642557844 meters Centerline goodness : 0.135025 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.00, Z:0.47 [[ 9.94820472e-01 -2.62828583e-03 -1.01613583e-01 -1.72387220e+01] [ 2.80827858e-03 9.99994731e-01 1.62833584e-03 -4.96258790e-03] [ 1.01608768e-01 -1.90526108e-03 9.94822611e-01 4.67442624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.702557844 meters Centerline goodness : 0.131416 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.01, Z:0.47 [[ 9.94906590e-01 -5.75741322e-03 -1.00636616e-01 -1.72417638e+01] [ 5.75492053e-03 9.99983391e-01 -3.15086434e-04 -1.36854736e-02] [ 1.00636759e-01 -2.65674159e-04 9.94923199e-01 4.68190443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.762557844 meters Centerline goodness : 0.132723 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.02, Z:0.47 [[ 9.94923552e-01 -5.35036953e-03 -1.00491292e-01 -1.72417560e+01] [ 5.43776001e-03 9.99985038e-01 5.95733498e-04 -1.84048645e-02] [ 1.00486601e-01 -1.13915681e-03 9.94937760e-01 4.67802015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.822557844 meters Centerline goodness : 0.131954 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.02, Z:0.47 [[ 9.94937876e-01 -4.87861272e-03 -1.00373410e-01 -1.72421966e+01] [ 5.04454963e-03 9.99986297e-01 1.39945065e-03 -2.17375012e-02] [ 1.00365207e-01 -1.89870510e-03 9.94948853e-01 4.68045351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.882557844 meters Centerline goodness : 0.133571 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.02, Z:0.47 [[ 9.94894591e-01 -4.82215092e-03 -1.00804264e-01 -1.72403124e+01] [ 5.01390474e-03 9.99986071e-01 1.64896755e-03 -2.36783957e-02] [ 1.00794908e-01 -2.14597187e-03 9.94904911e-01 4.67110622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.942557844 meters Centerline goodness : 0.125779 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.03, Z:0.47 [[ 9.94850715e-01 -4.68236779e-03 -1.01242928e-01 -1.72388033e+01] [ 4.94952893e-03 9.99984900e-01 2.38777470e-03 -2.84920679e-02] [ 1.01230218e-01 -2.87658417e-03 9.94858868e-01 4.66754346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.002557844 meters Centerline goodness : 0.174719 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.03, Z:0.47 [[ 9.94889760e-01 -4.78458794e-03 -1.00853722e-01 -1.72403413e+01] [ 5.09628392e-03 9.99983000e-01 2.83315354e-03 -3.26926789e-02] [ 1.00838452e-01 -3.33265464e-03 9.94897231e-01 4.67573114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.062557844 meters Centerline goodness : 0.198717 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.04, Z:0.47 [[ 9.94862801e-01 -4.44729885e-03 -1.01134708e-01 -1.72393941e+01] [ 4.83620856e-03 9.99981823e-01 3.60060339e-03 -3.64977114e-02] [ 1.01116857e-01 -4.07121491e-03 9.94866225e-01 4.67369242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.122557844 meters Centerline goodness : 0.121882 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.04, Z:0.47 [[ 9.94834960e-01 -4.37094053e-03 -1.01411522e-01 -1.72383134e+01] [ 4.77042231e-03 9.99981787e-01 3.69703524e-03 -3.70395420e-02] [ 1.01393515e-01 -4.16171570e-03 9.94837693e-01 4.66925770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18255784400003 meters Centerline goodness : 0.124932 with order 3 Centerline is valid? [False, False] Translation: X:-17.24, Y:-0.04, Z:0.47 [[ 9.94891937e-01 -3.97389888e-03 -1.00867446e-01 -1.72401445e+01] [ 4.40755525e-03 9.99981977e-01 4.07677545e-03 -3.79432983e-02] [ 1.00849427e-01 -4.50052987e-03 9.94891521e-01 4.67446709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24255784400003 meters Centerline goodness : 0.130748 with order 1 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.04, Z:0.47 [[ 9.95014361e-01 1.36015310e-03 -9.97224762e-02 -1.72638977e+01] [-1.22592016e-03 9.99998258e-01 1.40733135e-03 -4.43458810e-02] [ 9.97242167e-02 -1.27806311e-03 9.95014295e-01 4.65267856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30255784400003 meters Centerline goodness : 0.134204 with order 1 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.05, Z:0.47 [[ 9.95022860e-01 1.64704837e-03 -9.96333008e-02 -1.72639852e+01] [-1.46300300e-03 9.99997086e-01 1.92026292e-03 -4.64838685e-02] [ 9.96361732e-02 -1.76494169e-03 9.95022371e-01 4.65071398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.362557844 meters Centerline goodness : 0.120027 with order 3 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.05, Z:0.46 [[ 9.95009559e-01 1.81716693e-03 -9.97631002e-02 -1.72631959e+01] [-1.61294005e-03 9.99996436e-01 2.12773741e-03 -4.70057361e-02] [ 9.97666110e-02 -1.95620717e-03 9.95008943e-01 4.64518746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.422557844 meters Centerline goodness : 0.129476 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.05, Z:0.47 [[ 9.95057971e-01 1.90415662e-03 -9.92774297e-02 -1.72650984e+01] [-1.69545294e-03 9.99996172e-01 2.18655310e-03 -4.75259218e-02] [ 9.92812133e-02 -2.00742688e-03 9.95057391e-01 4.65260919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.482557844 meters Centerline goodness : 0.137005 with order 1 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.05, Z:0.46 [[ 9.95075276e-01 2.02467933e-03 -9.91014418e-02 -1.72652430e+01] [-1.81002412e-03 9.99995817e-01 2.25587656e-03 -4.71355042e-02] [ 9.91055947e-02 -2.06539099e-03 9.95074779e-01 4.64796688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.542557844 meters Centerline goodness : 0.138707 with order 1 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.05, Z:0.46 [[ 9.95053131e-01 -1.85008970e-03 -9.93269554e-02 -1.72643287e+01] [ 1.72485246e-03 9.99997606e-01 -1.34671831e-03 -4.75145546e-02] [ 9.93292092e-02 1.16873192e-03 9.95053939e-01 4.64315510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.602557844 meters Centerline goodness : 0.174412 with order 3 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.05, Z:0.46 [[ 9.95031096e-01 -1.86459129e-03 -9.95471860e-02 -1.72641357e+01] [ 1.79664210e-03 9.99998088e-01 -7.72226442e-04 -5.18409378e-02] [ 9.95484356e-02 5.89538657e-04 9.95032543e-01 4.64913143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.662557844 meters Centerline goodness : 0.124292 with order 3 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.06, Z:0.46 [[ 9.94992135e-01 -1.60295842e-03 -9.99403899e-02 -1.72628629e+01] [ 1.59831929e-03 9.99998715e-01 -1.26487818e-04 -5.53410202e-02] [ 9.99404642e-02 -3.38822684e-05 9.94993418e-01 4.64713230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.722557844 meters Centerline goodness : 0.150014 with order 1 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.06, Z:0.46 [[ 9.94894902e-01 6.06659223e-03 -1.00733960e-01 -1.72820618e+01] [-6.24526128e-03 9.99979435e-01 -1.45840726e-03 -6.12805058e-02] [ 1.00723041e-01 2.08007185e-03 9.94912329e-01 4.61127320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.782557844 meters Centerline goodness : 0.132424 with order 1 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.06, Z:0.46 [[ 9.94934173e-01 6.92628646e-03 -1.00289674e-01 -1.72831858e+01] [-7.07643126e-03 9.99974310e-01 -1.14144108e-03 -5.90170933e-02] [ 1.00279191e-01 1.84535172e-03 9.94957626e-01 4.60914787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.842557844 meters Centerline goodness : 0.118473 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.06, Z:0.46 [[ 9.95016498e-01 7.13889510e-03 -9.94545354e-02 -1.72857977e+01] [-7.31666872e-03 9.99972221e-01 -1.42285424e-03 -5.61647953e-02] [ 9.94416150e-02 2.14343933e-03 9.95041090e-01 4.61339202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.902557844 meters Centerline goodness : 0.146838 with order 1 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.05, Z:0.46 [[ 9.94998094e-01 6.92036210e-03 -9.96539074e-02 -1.72848060e+01] [-7.13382451e-03 9.99972959e-01 -1.78584897e-03 -5.47537283e-02] [ 9.96388540e-02 2.48782981e-03 9.95020557e-01 4.60651970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.962557844 meters Centerline goodness : 0.121427 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.05, Z:0.46 [[ 9.95071365e-01 6.46224279e-03 -9.89505802e-02 -1.72871141e+01] [-6.69994284e-03 9.99975412e-01 -2.07009769e-03 -5.43557729e-02] [ 9.89347697e-02 2.72285817e-03 9.95090196e-01 4.61321395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.022557844 meters Centerline goodness : 0.138123 with order 1 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.05, Z:0.46 [[ 9.95074257e-01 6.26537884e-03 -9.89341627e-02 -1.72870666e+01] [-6.53946592e-03 9.99975625e-01 -2.44635484e-03 -5.24375979e-02] [ 9.89164239e-02 3.08128131e-03 9.95090974e-01 4.61174645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.082557844 meters Centerline goodness : 0.128355 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.05, Z:0.46 [[ 9.95089670e-01 5.91440754e-03 -9.88006484e-02 -1.72867718e+01] [-6.26961389e-03 9.99974950e-01 -3.28508603e-03 -4.72354252e-02] [ 9.87787441e-02 3.88839709e-03 9.95101824e-01 4.60257164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.142557844 meters Centerline goodness : 0.109637 with order 3 Centerline is valid? [False, False] Translation: X:-17.31, Y:-0.04, Z:0.46 [[ 9.95099959e-01 -2.92209252e-03 -9.88308333e-02 -1.73066634e+01] [ 2.68589075e-03 9.99993210e-01 -2.52292628e-03 -4.13868294e-02] [ 9.88375345e-02 2.24511502e-03 9.95101051e-01 4.56837523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.202557844 meters Centerline goodness : 0.138066 with order 3 Centerline is valid? [False, False] Translation: X:-17.31, Y:-0.04, Z:0.46 [[ 9.95134319e-01 -3.79975407e-03 -9.84543020e-02 -1.73082152e+01] [ 3.51294245e-03 9.99989067e-01 -3.08633474e-03 -4.06171374e-02] [ 9.84649529e-02 2.72545333e-03 9.95136787e-01 4.57651890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.262557844 meters Centerline goodness : 0.199028 with order 3 Centerline is valid? [False, False] Translation: X:-17.35, Y:-0.05, Z:0.45 [[ 9.94908307e-01 -5.56039768e-03 -1.00630724e-01 -1.73542128e+01] [ 5.28825651e-03 9.99981604e-01 -2.97091225e-03 -4.50518248e-02] [ 1.00645392e-01 2.42362420e-03 9.94919409e-01 4.54856837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.322557844 meters Centerline goodness : 0.144636 with order 1 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.05, Z:0.46 [[ 9.95003081e-01 -6.44402917e-03 -9.96360566e-02 -1.73573123e+01] [ 6.15587064e-03 9.99975935e-01 -3.19928195e-03 -4.72350326e-02] [ 9.96542751e-02 2.56994872e-03 9.95018804e-01 4.55733476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.382557844 meters Centerline goodness : 0.128656 with order 3 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.05, Z:0.46 [[ 9.95022216e-01 -6.32867661e-03 -9.94521895e-02 -1.73576755e+01] [ 6.06541381e-03 9.99977256e-01 -2.94926826e-03 -4.80853611e-02] [ 9.94685925e-02 2.33136875e-03 9.95037971e-01 4.55595728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.442557844 meters Centerline goodness : 0.132028 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.05, Z:0.45 [[ 9.94973303e-01 4.16902045e-04 -1.00139666e-01 -1.73748995e+01] [-9.11797587e-04 9.99987597e-01 -4.89633530e-03 -5.46229627e-02] [ 1.00136383e-01 4.96303001e-03 9.94961343e-01 4.51705484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.502557844 meters Centerline goodness : 0.148375 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.05, Z:0.45 [[ 9.94954521e-01 5.06096297e-04 -1.00325693e-01 -1.73746895e+01] [-9.93065987e-04 9.99987968e-01 -4.80400653e-03 -5.47466471e-02] [ 1.00322055e-01 4.87939805e-03 9.94943052e-01 4.52022630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.562557844 meters Centerline goodness : 0.131215 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.06, Z:0.45 [[ 9.94958605e-01 5.70873898e-04 -1.00284834e-01 -1.73741702e+01] [-1.03591553e-03 9.99988951e-01 -4.58519464e-03 -5.66585042e-02] [ 1.00281109e-01 4.66596548e-03 9.94948204e-01 4.51240540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.622557844 meters Centerline goodness : 0.139601 with order 1 Centerline is valid? [False, False] Translation: X:-17.39, Y:-0.06, Z:0.45 [[ 9.94960029e-01 7.82176750e-03 -9.99667948e-02 -1.73933580e+01] [-8.42752840e-03 9.99948589e-01 -5.63875764e-03 -6.46690743e-02] [ 9.99175503e-02 6.45281147e-03 9.94974796e-01 4.47549686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68255784400003 meters Centerline goodness : 0.120381 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.06, Z:0.45 [[ 9.94971474e-01 2.71000344e-03 -1.00122030e-01 -1.73707159e+01] [-2.99513776e-03 9.99991876e-01 -2.69766016e-03 -6.20316492e-02] [ 1.00113906e-01 2.98397418e-03 9.94971508e-01 4.49505245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74255784400003 meters Centerline goodness : 0.142411 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.06, Z:0.45 [[ 9.94970200e-01 2.90436447e-03 -1.00129250e-01 -1.73704927e+01] [-3.19306191e-03 9.99991194e-01 -2.72310591e-03 -6.09765942e-02] [ 1.00120460e-01 3.02912812e-03 9.94970712e-01 4.49151902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80255784400003 meters Centerline goodness : 0.133088 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.06, Z:0.45 [[ 9.94971139e-01 2.77646577e-03 -1.00123538e-01 -1.73706022e+01] [-3.09421071e-03 9.99990658e-01 -3.01837633e-03 -5.97723252e-02] [ 1.00114222e-01 3.31300066e-03 9.94970435e-01 4.49158571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.862557844 meters Centerline goodness : 0.137116 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.06, Z:0.45 [[ 9.95029889e-01 2.86438017e-03 -9.95354996e-02 -1.73725320e+01] [-3.15262929e-03 9.99991280e-01 -2.73877340e-03 -6.10017081e-02] [ 9.95267868e-02 3.03895993e-03 9.95030242e-01 4.49722525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.922557844 meters Centerline goodness : 0.120247 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.06, Z:0.45 [[ 9.95067248e-01 -1.10531945e-03 -9.91965225e-02 -1.73738961e+01] [ 5.06047598e-04 9.99981472e-01 -6.06621647e-03 -6.29601234e-02] [ 9.92013897e-02 5.98609517e-03 9.95049371e-01 4.50256808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.982557844 meters Centerline goodness : 0.217019 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.07, Z:0.45 [[ 9.95037227e-01 -4.81796940e-03 -9.93866398e-02 -1.73731075e+01] [ 3.99362105e-03 9.99955971e-01 -8.49164088e-03 -7.04393106e-02] [ 9.94231763e-02 8.05258621e-03 9.95012657e-01 4.50033970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.042557844 meters Centerline goodness : 0.132275 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.08, Z:0.45 [[ 9.95016974e-01 -4.39523337e-03 -9.96087481e-02 -1.73723834e+01] [ 3.67219033e-03 9.99965573e-01 -7.44101658e-03 -7.62334143e-02] [ 9.96380238e-02 7.03815552e-03 9.94998859e-01 4.49965482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.102557844 meters Centerline goodness : 0.135080 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.08, Z:0.45 [[ 9.95005156e-01 -3.58579133e-03 -9.97591200e-02 -1.73719385e+01] [ 2.96159646e-03 9.99975106e-01 -6.40441008e-03 -8.05106489e-02] [ 9.97796015e-02 6.07697480e-03 9.94991006e-01 4.49955529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.162557844 meters Centerline goodness : 0.118447 with order 3 Centerline is valid? [False, False] Translation: X:-17.39, Y:-0.09, Z:0.45 [[ 9.95059215e-01 4.96408658e-03 -9.91590439e-02 -1.73930087e+01] [-5.66272573e-03 9.99961080e-01 -6.76543475e-03 -8.68624718e-02] [ 9.91216004e-02 7.29351867e-03 9.95048598e-01 4.46281459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.222557844 meters Centerline goodness : 0.122058 with order 3 Centerline is valid? [False, False] Translation: X:-17.39, Y:-0.09, Z:0.45 [[ 9.95082916e-01 6.22791044e-03 -9.88493947e-02 -1.73935733e+01] [-6.87499950e-03 9.99957103e-01 -6.20692995e-03 -8.54758594e-02] [ 9.88064982e-02 6.85599950e-03 9.95083047e-01 4.45663681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.282557844 meters Centerline goodness : 0.243765 with order 3 Centerline is valid? [False, False] Translation: X:-17.39, Y:-0.08, Z:0.44 [[ 9.95044251e-01 1.03065051e-02 -9.88974911e-02 -1.73927913e+01] [-1.06596994e-02 9.99938552e-01 -3.04356302e-03 -8.14246614e-02] [ 9.88600455e-02 4.08269741e-03 9.95092972e-01 4.44858654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.342557844 meters Centerline goodness : 0.199139 with order 3 Centerline is valid? [False, False] Translation: X:-17.39, Y:-0.08, Z:0.44 [[ 9.95036808e-01 1.00108335e-02 -9.90026939e-02 -1.73920366e+01] [-1.04213218e-02 9.99939108e-01 -3.62995046e-03 -7.88683426e-02] [ 9.89603266e-02 4.64367325e-03 9.95080545e-01 4.44130103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.402557844 meters Centerline goodness : 0.145980 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.07, Z:0.45 [[ 9.95038063e-01 1.90371050e-03 -9.94767807e-02 -1.73719936e+01] [-2.21821036e-03 9.99992885e-01 -3.05103138e-03 -7.34085748e-02] [ 9.94702647e-02 3.25655278e-03 9.95035206e-01 4.47710733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.462557844 meters Centerline goodness : 0.128846 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.08, Z:0.45 [[ 9.95092032e-01 -3.18402229e-04 -9.89532577e-02 -1.73738204e+01] [-1.46715458e-04 9.99988977e-01 -4.69306532e-03 -7.57294844e-02] [ 9.89536612e-02 4.68454987e-03 9.95081016e-01 4.48113182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.522557844 meters Centerline goodness : 0.130145 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.08, Z:0.45 [[ 9.95081067e-01 -3.74403552e-04 -9.90632572e-02 -1.73734085e+01] [-7.99658486e-05 9.99989496e-01 -4.58264884e-03 -7.67871959e-02] [ 9.90639324e-02 4.56802878e-03 9.95070586e-01 4.48024745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.582557844 meters Centerline goodness : 0.241124 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.08, Z:0.45 [[ 9.95112671e-01 -5.36846110e-04 -9.87445355e-02 -1.73749892e+01] [ 9.22610411e-05 9.99989840e-01 -4.50688762e-03 -7.77845285e-02] [ 9.87459517e-02 4.47575071e-03 9.95102610e-01 4.49037743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.642557844 meters Centerline goodness : 0.127923 with order 1 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.08, Z:0.45 [[ 9.95116397e-01 -5.82329030e-04 -9.87067226e-02 -1.73752522e+01] [ 1.22976830e-04 9.99989136e-01 -4.65972765e-03 -7.68077903e-02] [ 9.87083637e-02 4.62483275e-03 9.95105658e-01 4.49218882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.702557844 meters Centerline goodness : 0.126583 with order 1 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.08, Z:0.45 [[ 9.95118651e-01 -5.47321960e-04 -9.86842021e-02 -1.73751707e+01] [ 9.40293923e-05 9.99989425e-01 -4.59795752e-03 -7.70498606e-02] [ 9.86856751e-02 4.56623407e-03 9.95108179e-01 4.49008004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.762557844 meters Centerline goodness : 0.126947 with order 1 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.08, Z:0.45 [[ 9.95122342e-01 -5.27358533e-04 -9.86470789e-02 -1.73753975e+01] [ 8.52341167e-05 9.99989934e-01 -4.48604110e-03 -7.77624715e-02] [ 9.86484517e-02 4.45575163e-03 9.95112370e-01 4.49167810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.822557844 meters Centerline goodness : 0.127899 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.08, Z:0.45 [[ 9.95098298e-01 -5.95541666e-04 -9.88889408e-02 -1.73740768e+01] [ 1.40409837e-04 9.99989367e-01 -4.60935005e-03 -7.71567530e-02] [ 9.88906343e-02 4.57287141e-03 9.95087801e-01 4.48177228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.882557844 meters Centerline goodness : 0.129102 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.08, Z:0.45 [[ 9.95073684e-01 -6.32316134e-04 -9.91360825e-02 -1.73731753e+01] [ 1.94207817e-04 9.99990174e-01 -4.42884994e-03 -7.88173834e-02] [ 9.91379088e-02 4.38777902e-03 9.95064029e-01 4.47843370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.942557844 meters Centerline goodness : 0.132550 with order 1 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.08, Z:0.45 [[ 9.95097572e-01 -4.55281196e-03 -9.87931897e-02 -1.73746550e+01] [ 3.82810826e-03 9.99964368e-01 -7.52388401e-03 -8.23993451e-02] [ 9.88239243e-02 7.10880768e-03 9.95079543e-01 4.48465910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.002557844 meters Centerline goodness : 0.135303 with order 1 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.09, Z:0.45 [[ 9.95185101e-01 -4.55801071e-03 -9.79073008e-02 -1.73772357e+01] [ 3.89392705e-03 9.99968108e-01 -6.97279112e-03 -8.54865844e-02] [ 9.79359604e-02 6.55797395e-03 9.95171111e-01 4.48967792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.062557844 meters Centerline goodness : 0.141455 with order 1 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.09, Z:0.45 [[ 9.95128380e-01 -4.80462826e-03 -9.84704154e-02 -1.73756680e+01] [ 4.16971723e-03 9.99969178e-01 -6.65251810e-03 -8.88471259e-02] [ 9.84993433e-02 6.20951577e-03 9.95117742e-01 4.48870206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.122557844 meters Centerline goodness : 0.122606 with order 3 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.09, Z:0.45 [[ 9.95165631e-01 -4.58075465e-03 -9.81039439e-02 -1.73768369e+01] [ 3.99474468e-03 9.99972993e-01 -6.16895004e-03 -9.08343372e-02] [ 9.81295528e-02 5.74722685e-03 9.95157053e-01 4.49137163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18255784400003 meters Centerline goodness : 0.141574 with order 1 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.09, Z:0.45 [[ 9.95187831e-01 -4.63319504e-03 -9.78760188e-02 -1.73779665e+01] [ 4.06671737e-03 9.99973812e-01 -5.98641098e-03 -9.24067380e-02] [ 9.79011918e-02 5.55956925e-03 9.95180611e-01 4.49854335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24255784400003 meters Centerline goodness : 0.127930 with order 1 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.09, Z:0.45 [[ 9.95172024e-01 -4.72886398e-03 -9.80320422e-02 -1.73773479e+01] [ 4.14636332e-03 9.99972524e-01 -6.14482022e-03 -9.17519306e-02] [ 9.80584066e-02 5.70867671e-03 9.95164288e-01 4.49519450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30255784400003 meters Centerline goodness : 0.128661 with order 1 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.09, Z:0.45 [[ 9.95195303e-01 -5.03078189e-03 -9.77803625e-02 -1.73777308e+01] [ 4.37788466e-03 9.99966676e-01 -6.89058599e-03 -8.79510926e-02] [ 9.78117691e-02 6.42940767e-03 9.95184164e-01 4.49049359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.362557844 meters Centerline goodness : 0.141054 with order 3 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.09, Z:0.45 [[ 9.94898657e-01 -5.98363763e-03 -1.00701829e-01 -1.74223217e+01] [ 5.33843754e-03 9.99963470e-01 -6.67529797e-03 -8.76404657e-02] [ 1.00738093e-01 6.10365456e-03 9.94894257e-01 4.45440923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.422557844 meters Centerline goodness : 0.240744 with order 3 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.09, Z:0.45 [[ 9.94866925e-01 -6.29954433e-03 -1.00995626e-01 -1.74216931e+01] [ 5.64012493e-03 9.99960882e-01 -6.81340548e-03 -8.74880318e-02] [ 1.01034597e-01 6.20880381e-03 9.94863539e-01 4.45514084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.482557844 meters Centerline goodness : 0.122159 with order 1 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.09, Z:0.44 [[ 9.94814544e-01 -1.07355993e-02 -1.01137383e-01 -1.74204860e+01] [ 9.83957387e-03 9.99907837e-01 -9.35419403e-03 -9.28900468e-02] [ 1.01228484e-01 8.31053952e-03 9.94828492e-01 4.43237082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.542557844 meters Centerline goodness : 0.124186 with order 1 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.10, Z:0.44 [[ 9.94798645e-01 -1.38418856e-02 -1.00916092e-01 -1.74201590e+01] [ 1.28241629e-02 9.99860230e-01 -1.07266441e-02 -9.94925503e-02] [ 1.01050464e-01 9.37668661e-03 9.94837113e-01 4.40864962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.602557844 meters Centerline goodness : 0.220459 with order 3 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.10, Z:0.44 [[ 9.94818015e-01 -1.81196849e-02 -1.00043961e-01 -1.74224957e+01] [ 1.68606551e-02 9.99767837e-01 -1.34160504e-02 -1.04208678e-01] [ 1.00263829e-01 1.16597219e-02 9.94892565e-01 4.39913903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.662557844 meters Centerline goodness : 0.128073 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.11, Z:0.44 [[ 9.94883881e-01 -7.66974556e-03 -1.00733498e-01 -1.74390999e+01] [ 6.36155030e-03 9.99891294e-01 -1.33015133e-02 -1.10525492e-01] [ 1.00824567e-01 1.25926399e-02 9.94824523e-01 4.37015556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.722557844 meters Centerline goodness : 0.197500 with order 3 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.12, Z:0.44 [[ 9.94891842e-01 6.86831462e-04 -1.00944295e-01 -1.74198476e+01] [-2.03141793e-03 9.99910576e-01 -1.32178949e-02 -1.17377204e-01] [ 1.00926190e-01 1.33554359e-02 9.94804270e-01 4.37996207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.782557844 meters Centerline goodness : 0.241682 with order 3 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.12, Z:0.44 [[ 9.94965686e-01 9.11748496e-04 -1.00212035e-01 -1.74216990e+01] [-2.25640974e-03 9.99908930e-01 -1.33056354e-02 -1.16045386e-01] [ 1.00190777e-01 1.34647701e-02 9.94877132e-01 4.38003203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.842557844 meters Centerline goodness : 0.238057 with order 3 Centerline is valid? [False, False] Translation: X:-17.40, Y:-0.11, Z:0.44 [[ 9.94874239e-01 -3.72280490e-03 -1.01051421e-01 -1.73989612e+01] [ 2.67524947e-03 9.99941294e-01 -1.05000954e-02 -1.10104304e-01] [ 1.01084579e-01 1.01759367e-02 9.94825793e-01 4.39854343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.902557844 meters Centerline goodness : 0.168527 with order 3 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.11, Z:0.44 [[ 9.95054856e-01 4.47396183e-03 -9.92260911e-02 -1.73795919e+01] [-5.68304540e-03 9.99912973e-01 -1.19058348e-02 -1.11017474e-01] [ 9.91641895e-02 1.24108651e-02 9.94993685e-01 4.41744406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.962557844 meters Centerline goodness : 0.140604 with order 1 Centerline is valid? [False, False] Translation: X:-17.38, Y:-0.11, Z:0.44 [[ 9.95072177e-01 3.87800707e-03 -9.90773571e-02 -1.73800300e+01] [-5.12727225e-03 9.99910498e-01 -1.23574752e-02 -1.10001119e-01] [ 9.90205671e-02 1.28045763e-02 9.95003000e-01 4.41712555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.022557844 meters Centerline goodness : 0.227680 with order 3 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.11, Z:0.45 [[ 9.94980994e-01 -4.35236014e-03 -9.99693899e-02 -1.73593771e+01] [ 3.17823063e-03 9.99924128e-01 -1.19011514e-02 -1.05089107e-01] [ 1.00013603e-01 1.15236937e-02 9.94919335e-01 4.45268762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.082557844 meters SLAMing on 448.142557844 meters Centerline goodness : 0.264585 with order 3 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.09, Z:0.45 [[ 9.94950427e-01 -5.04119295e-03 -1.00240884e-01 -1.73585849e+01] [ 3.84303528e-03 9.99918895e-01 -1.21422960e-02 -9.17098080e-02] [ 1.00293966e-01 1.16957533e-02 9.94889104e-01 4.45069527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.202557844 meters Centerline goodness : 0.097568 with order 1 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.09, Z:0.45 [[ 9.94981215e-01 -5.37792718e-03 -9.99172662e-02 -1.73594204e+01] [ 4.13100337e-03 9.99911043e-01 -1.26822728e-02 -8.85846436e-02] [ 9.99765823e-02 1.22058647e-02 9.94914921e-01 4.45007464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.262557844 meters Centerline goodness : 0.087559 with order 1 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.09, Z:0.44 [[ 9.94956880e-01 -5.64034326e-03 -1.00144866e-01 -1.73584650e+01] [ 4.37114646e-03 9.99907385e-01 -1.28885153e-02 -8.72948049e-02] [ 1.00208287e-01 1.23857691e-02 9.94889387e-01 4.44583853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.322557844 meters Centerline goodness : 0.208285 with order 3 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.09, Z:0.45 [[ 9.95031562e-01 -5.85087843e-03 -9.93879200e-02 -1.73608135e+01] [ 4.56201271e-03 9.99902597e-01 -1.31903546e-02 -8.51727208e-02] [ 9.94554144e-02 1.26714102e-02 9.94961334e-01 4.45237038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.382557844 meters Centerline goodness : 0.093662 with order 3 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.08, Z:0.44 [[ 9.95018877e-01 -2.43303038e-03 -9.96569849e-02 -1.73592545e+01] [ 1.41834086e-03 9.99946447e-01 -1.02514054e-02 -8.30834283e-02] [ 9.96765899e-02 1.00589944e-02 9.94969042e-01 4.44235434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.442557844 meters Centerline goodness : 0.121266 with order 3 Centerline is valid? [False, False] Translation: X:-17.36, Y:-0.08, Z:0.44 [[ 9.94977863e-01 9.69359634e-04 -1.00090524e-01 -1.73577296e+01] [-1.69720513e-03 9.99972733e-01 -7.18697740e-03 -8.14383147e-02] [ 1.00080828e-01 7.32075757e-03 9.94952378e-01 4.43769238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.502557844 meters Centerline goodness : 0.093744 with order 1 Centerline is valid? [False, False] Translation: X:-17.35, Y:-0.07, Z:0.44 [[ 9.94870640e-01 5.02541853e-03 -1.01030461e-01 -1.73544406e+01] [-5.50947556e-03 9.99974640e-01 -4.51274196e-03 -7.20828304e-02] [ 1.01005220e-01 5.04621934e-03 9.94873098e-01 4.42979251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.562557844 meters Centerline goodness : 0.132521 with order 1 Centerline is valid? [False, False] Translation: X:-17.35, Y:-0.06, Z:0.44 [[ 9.94816671e-01 8.17415838e-03 -1.01355686e-01 -1.73534660e+01] [-8.48595388e-03 9.99960494e-01 -2.64546506e-03 -6.42811158e-02] [ 1.01330057e-01 3.49185241e-03 9.94846735e-01 4.42923985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.622557844 meters Centerline goodness : 0.102154 with order 3 Centerline is valid? [False, False] Translation: X:-17.31, Y:-0.05, Z:0.45 [[ 9.94776972e-01 1.12100087e-02 -1.01454975e-01 -1.73115266e+01] [-1.15556904e-02 9.99929254e-01 -2.82015878e-03 -5.18795726e-02] [ 1.01416183e-01 3.97781129e-03 9.94836135e-01 4.47419595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68255784400003 meters Centerline goodness : 0.140300 with order 1 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.04, Z:0.45 [[ 9.94604973e-01 4.62144083e-03 -1.03631997e-01 -1.72926885e+01] [-4.90761190e-03 9.99984816e-01 -2.50660557e-03 -4.12391871e-02] [ 1.03618840e-01 3.00166799e-03 9.94612551e-01 4.50955342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74255784400003 meters SLAMing on 448.80255784400003 meters Centerline goodness : 0.119633 with order 3 Centerline is valid? [False, False] Translation: X:-17.30, Y:-0.03, Z:0.45 [[ 9.94722709e-01 6.13993594e-03 -1.02415986e-01 -1.72973937e+01] [-6.31621434e-03 9.99979077e-01 -1.39699253e-03 -2.70788071e-02] [ 1.02405266e-01 2.03650152e-03 9.94740677e-01 4.52546008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.862557844 meters Centerline goodness : 0.416437 with order 3 Centerline is valid? [False, False] Translation: X:-17.32, Y:-0.02, Z:0.45 [[ 9.94895113e-01 -2.02598949e-03 -1.00894050e-01 -1.73173579e+01] [ 1.97161925e-03 9.99997852e-01 -6.38598421e-04 -1.97135155e-02] [ 1.00895128e-01 4.36413796e-04 9.94896971e-01 4.48914841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.922557844 meters Centerline goodness : 0.187587 with order 3 Centerline is valid? [False, False] Translation: X:-17.32, Y:-0.02, Z:0.45 [[ 9.94888203e-01 1.41784108e-03 -1.00972542e-01 -1.73166922e+01] [-1.15809505e-03 9.99995868e-01 2.63101349e-03 -1.90546227e-02] [ 1.00975855e-01 -2.50062848e-03 9.94885734e-01 4.48433809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.982557844 meters Centerline goodness : 0.234746 with order 3 Centerline is valid? [False, False] Translation: X:-17.30, Y:-0.02, Z:0.45 [[ 9.94952190e-01 1.02146048e-02 -9.98288646e-02 -1.72959775e+01] [-1.00831818e-02 9.99947505e-01 1.82096394e-03 -2.15699902e-02] [ 9.98422245e-02 -8.05179477e-04 9.95002956e-01 4.51067826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.042557844 meters Centerline goodness : 0.146814 with order 1 Centerline is valid? [False, False] Translation: X:-17.30, Y:-0.02, Z:0.45 [[ 9.94928065e-01 1.04737602e-02 -1.00042219e-01 -1.72950871e+01] [-1.03397586e-02 9.99944817e-01 1.85787803e-03 -2.10974838e-02] [ 1.00056158e-01 -8.14042593e-04 9.94981458e-01 4.50640408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.102557844 meters Centerline goodness : 0.224603 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.02, Z:0.45 [[ 9.94919763e-01 1.11977613e-02 -1.00046370e-01 -1.72945846e+01] [-1.10520848e-02 9.99936903e-01 2.01023965e-03 -1.96854766e-02] [ 1.00062568e-01 -8.94306193e-04 9.94980745e-01 4.50149472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.162557844 meters Centerline goodness : 0.120915 with order 3 Centerline is valid? [False, False] Translation: X:-17.30, Y:-0.02, Z:0.45 [[ 9.94946449e-01 1.17109741e-02 -9.97216970e-02 -1.72956558e+01] [-1.15700694e-02 9.99931082e-01 1.99121701e-03 -1.77524685e-02] [ 9.97381434e-02 -8.27367345e-04 9.95013376e-01 4.50470012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.222557844 meters Centerline goodness : 0.141052 with order 1 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.02, Z:0.45 [[ 9.94840870e-01 1.21875741e-02 -1.00712989e-01 -1.72922487e+01] [-1.20443079e-02 9.99925403e-01 2.03047471e-03 -1.65360862e-02] [ 1.00730223e-01 -8.06980979e-04 9.94913449e-01 4.49323912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.282557844 meters Centerline goodness : 0.122852 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.02, Z:0.45 [[ 9.94879964e-01 1.24208025e-02 -1.00297461e-01 -1.72936432e+01] [-1.22359741e-02 9.99922117e-01 2.45778485e-03 -1.84724154e-02] [ 1.00320177e-01 -1.21796377e-03 9.94954461e-01 4.49710224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.342557844 meters Centerline goodness : 0.122257 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.02, Z:0.45 [[ 9.94929200e-01 8.49399835e-03 -1.00218460e-01 -1.72940829e+01] [-8.59563676e-03 9.99962887e-01 -5.82396499e-04 -2.31153072e-02] [ 1.00209794e-01 1.44088476e-03 9.94965286e-01 4.49892652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.402557844 meters Centerline goodness : 0.125059 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.03, Z:0.45 [[ 9.94841338e-01 6.50114598e-03 -1.01234615e-01 -1.72890783e+01] [-6.74371543e-03 9.99975151e-01 -2.05406470e-03 -2.81791374e-02] [ 1.01218746e-01 2.72616591e-03 9.94860459e-01 4.47672519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.462557844 meters Centerline goodness : 0.127936 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.03, Z:0.45 [[ 9.94872410e-01 7.08279740e-03 -1.00889656e-01 -1.72900096e+01] [-7.25596744e-03 9.99972764e-01 -1.34956657e-03 -3.08029202e-02] [ 1.00877349e-01 2.07469860e-03 9.94896706e-01 4.47850866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.522557844 meters Centerline goodness : 0.116955 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.03, Z:0.45 [[ 9.94845917e-01 7.76592736e-03 -1.01100409e-01 -1.72891319e+01] [-7.91656552e-03 9.99968071e-01 -1.08885300e-03 -3.02696353e-02] [ 1.01088725e-01 1.88360897e-03 9.94875631e-01 4.47455153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.582557844 meters Centerline goodness : 0.219041 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.03, Z:0.45 [[ 9.94763429e-01 8.78826286e-03 -1.01825769e-01 -1.72865859e+01] [-8.90504096e-03 9.99960110e-01 -6.92327572e-04 -2.93161280e-02] [ 1.01815623e-01 1.59546479e-03 9.94802007e-01 4.46586002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.642557844 meters Centerline goodness : 0.130290 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.03, Z:0.45 [[ 9.94759465e-01 8.83987201e-03 -1.01860018e-01 -1.72862312e+01] [-8.95585648e-03 9.99959663e-01 -6.81401396e-04 -2.91406769e-02] [ 1.01849886e-01 1.59007419e-03 9.94798508e-01 4.46212462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.702557844 meters Centerline goodness : 0.133550 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.03, Z:0.45 [[ 9.94785311e-01 5.12339877e-03 -1.01862333e-01 -1.72863480e+01] [-5.53597610e-03 9.99977577e-01 -3.76806430e-03 -3.14321023e-02] [ 1.01840744e-01 4.31232246e-03 9.94791368e-01 4.46212721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.762557844 meters Centerline goodness : 0.134785 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.03, Z:0.45 [[ 9.94966733e-01 -3.26681491e-03 -1.00152525e-01 -1.72668478e+01] [ 3.00217561e-03 9.99991593e-01 -2.79296592e-03 -3.16925414e-02] [ 1.00160807e-01 2.47823271e-03 9.94968176e-01 4.48798689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.822557844 meters Centerline goodness : 0.173718 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.04, Z:0.44 [[ 9.95238949e-01 2.41385720e-03 -9.74351482e-02 -1.72832701e+01] [-2.73464201e-03 9.99991272e-01 -3.15888175e-03 -4.31482135e-02] [ 9.74266727e-02 3.41029240e-03 9.95236863e-01 4.44287383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.882557844 meters Centerline goodness : 0.144435 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.05, Z:0.44 [[ 9.95226639e-01 2.65592216e-03 -9.75545088e-02 -1.72826631e+01] [-2.93533359e-03 9.99991991e-01 -2.72074860e-03 -4.56194623e-02] [ 9.75465013e-02 2.99411651e-03 9.95226464e-01 4.43970612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.942557844 meters Centerline goodness : 0.128889 with order 3 Centerline is valid? [False, False] Translation: X:-17.30, Y:-0.05, Z:0.44 [[ 9.95007176e-01 1.06270803e-02 -9.92360105e-02 -1.73014935e+01] [-1.10397452e-02 9.99932543e-01 -3.61020415e-03 -5.45884789e-02] [ 9.91909504e-02 4.68771931e-03 9.95057376e-01 4.40638744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.002557844 meters Centerline goodness : 0.129165 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.05, Z:0.44 [[ 9.95136780e-01 4.04111798e-03 -9.84198024e-02 -1.72828824e+01] [-4.21289757e-03 9.99989944e-01 -1.53761730e-03 -5.09412520e-02] [ 9.84125990e-02 1.94477207e-03 9.95143798e-01 4.43352518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.062557844 meters Centerline goodness : 0.128646 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.06, Z:0.44 [[ 9.95136047e-01 4.54495811e-03 -9.84052372e-02 -1.72831309e+01] [-4.62196575e-03 9.99989165e-01 -5.54603228e-04 -5.60413445e-02] [ 9.84016503e-02 1.00673130e-03 9.95146272e-01 4.43630930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.122557844 meters Centerline goodness : 0.155659 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.06, Z:0.44 [[ 9.95193131e-01 8.89320462e-04 -9.79277369e-02 -1.72844770e+01] [-1.24264358e-03 9.99992937e-01 -3.54706633e-03 -5.98328217e-02] [ 9.79238908e-02 3.65170532e-03 9.95187207e-01 4.43729229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.18255784400003 meters Centerline goodness : 0.155686 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95195712e-01 1.57771608e-03 -9.78928311e-02 -1.72847570e+01] [-1.79893564e-03 9.99996024e-01 -2.17159133e-03 -6.83357207e-02] [ 9.78890157e-02 2.33726128e-03 9.95194593e-01 4.44030547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24255784400003 meters Centerline goodness : 0.227413 with order 2 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95159671e-01 1.87362654e-03 -9.82533413e-02 -1.72836956e+01] [-2.03194372e-03 9.99996794e-01 -1.51127590e-03 -7.20196137e-02] [ 9.82501947e-02 1.70360609e-03 9.95160287e-01 4.43960588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30255784400003 meters Centerline goodness : 0.143255 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95158651e-01 2.25998801e-03 -9.82555450e-02 -1.72841992e+01] [-2.35707930e-03 9.99996842e-01 -8.72082934e-04 -7.46240502e-02] [ 9.82532638e-02 1.09945699e-03 9.95160835e-01 4.44618276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.362557844 meters SLAMing on 450.422557844 meters Centerline goodness : 0.151374 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.08, Z:0.44 [[ 9.95161735e-01 -1.68697351e-03 -9.82358196e-02 -1.72840185e+01] [ 1.26648260e-03 9.99989769e-01 -4.34262403e-03 -7.66725850e-02] [ 9.82421405e-02 4.19719931e-03 9.95153689e-01 4.44372019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.482557844 meters Centerline goodness : 0.207362 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.08, Z:0.44 [[ 9.95176472e-01 -1.58068524e-03 -9.80881828e-02 -1.72846996e+01] [ 1.18101747e-03 9.99990764e-01 -4.13250435e-03 -7.75386596e-02] [ 9.80938091e-02 3.99672724e-03 9.95169147e-01 4.44755861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.542557844 meters Centerline goodness : 0.138429 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.08, Z:0.44 [[ 9.95191441e-01 -1.61750116e-03 -9.79355836e-02 -1.72847784e+01] [ 1.19904506e-03 9.99989900e-01 -4.33147404e-03 -7.64225943e-02] [ 9.79416007e-02 4.19321671e-03 9.95183330e-01 4.44331906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.602557844 meters Centerline goodness : 0.144923 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95168105e-01 -1.66573319e-03 -9.81716227e-02 -1.72833653e+01] [ 1.21749741e-03 9.99988561e-01 -4.62556827e-03 -7.47377520e-02] [ 9.81782047e-02 4.48369431e-03 9.95158749e-01 4.43235343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.662557844 meters Centerline goodness : 0.149658 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95148320e-01 -1.77873088e-03 -9.83700033e-02 -1.72823894e+01] [ 1.28133318e-03 9.99986075e-01 -5.11934064e-03 -7.18951802e-02] [ 9.83777394e-02 4.96845849e-03 9.95136742e-01 4.42545909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.722557844 meters Centerline goodness : 0.155658 with order 1 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95147093e-01 -1.93980947e-03 -9.83793685e-02 -1.72820470e+01] [ 1.41041986e-03 9.99984152e-01 -5.45036543e-03 -7.02801207e-02] [ 9.83883820e-02 5.28515909e-03 9.95134058e-01 4.42101828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.782557844 meters Centerline goodness : 0.136441 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95194655e-01 -1.99925982e-03 -9.78958681e-02 -1.72829059e+01] [ 1.44579087e-03 9.99982571e-01 -5.72426225e-03 -6.83835788e-02] [ 9.79056061e-02 5.55521824e-03 9.95180201e-01 4.41537788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.842557844 meters Centerline goodness : 0.172545 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95156590e-01 -2.11149471e-03 -9.82797156e-02 -1.72813312e+01] [ 1.53660984e-03 9.99981268e-01 -5.92480091e-03 -6.77627382e-02] [ 9.82903848e-02 5.74508709e-03 9.95141193e-01 4.40737617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.902557844 meters Centerline goodness : 0.139841 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95122120e-01 -2.12039556e-03 -9.86279382e-02 -1.72801728e+01] [ 1.53691079e-03 9.99980869e-01 -5.99161946e-03 -6.73329750e-02] [ 9.86387560e-02 5.81081072e-03 9.95106341e-01 4.40392800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.962557844 meters Centerline goodness : 0.132001 with order 3 Centerline is valid? [False, False] Translation: X:-17.28, Y:-0.07, Z:0.44 [[ 9.95086930e-01 -2.17216626e-03 -9.89812227e-02 -1.72795629e+01] [ 1.60130638e-03 9.99981627e-01 -5.84643517e-03 -6.90999160e-02] [ 9.89921036e-02 5.65921197e-03 9.95072126e-01 4.40820603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.022557844 meters Centerline goodness : 0.133574 with order 3 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.07, Z:0.44 [[ 9.95347625e-01 -9.25330892e-03 -9.59034976e-02 -1.72613723e+01] [ 8.88940447e-03 9.99951579e-01 -4.22104767e-03 -6.74753487e-02] [ 9.59379125e-02 3.34888480e-03 9.95381687e-01 4.44054348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.082557844 meters Centerline goodness : 0.178328 with order 3 Centerline is valid? [False, False] Translation: X:-17.26, Y:-0.07, Z:0.45 [[ 9.95336979e-01 -1.25069030e-02 -9.56445252e-02 -1.72630756e+01] [ 1.19450597e-02 9.99907887e-01 -6.44460642e-03 -7.32502916e-02] [ 9.57163172e-02 5.27207552e-03 9.95394691e-01 4.45366621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.142557844 meters SLAMing on 451.202557844 meters Centerline goodness : 0.131365 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.09, Z:0.45 [[ 9.95395901e-01 -1.53222620e-02 -9.46162136e-02 -1.72669687e+01] [ 1.46729700e-02 9.99863809e-01 -7.55431819e-03 -8.64281949e-02] [ 9.47190769e-02 6.13123650e-03 9.95485160e-01 4.47146238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.262557844 meters Centerline goodness : 0.155639 with order 3 Centerline is valid? [False, False] Translation: X:-17.25, Y:-0.09, Z:0.45 [[ 9.95507841e-01 -7.39553611e-03 -9.43898592e-02 -1.72483419e+01] [ 6.55874008e-03 9.99936422e-01 -9.17247628e-03 -9.28103809e-02] [ 9.44516935e-02 8.51219350e-03 9.95493054e-01 4.50673654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.322557844 meters Centerline goodness : 0.136453 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.10, Z:0.45 [[ 9.95392491e-01 1.44760235e-03 -9.58733217e-02 -1.72688108e+01] [-2.36393188e-03 9.99952602e-01 -9.44482033e-03 -9.54300219e-02] [ 9.58551052e-02 9.62794124e-03 9.95348734e-01 4.47830633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.382557844 meters Centerline goodness : 0.146750 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.09, Z:0.45 [[ 9.95381848e-01 1.51466988e-03 -9.59827210e-02 -1.72688103e+01] [-2.46665221e-03 9.99948933e-01 -9.80039215e-03 -9.31468629e-02] [ 9.59629751e-02 9.99188843e-03 9.95334753e-01 4.48128997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.442557844 meters Centerline goodness : 0.130492 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.09, Z:0.45 [[ 9.95385829e-01 -2.56066874e-03 -9.59192077e-02 -1.72694014e+01] [ 1.28132181e-03 9.99909436e-01 -1.33969754e-02 -9.40792657e-02] [ 9.59448260e-02 1.32122560e-02 9.95298963e-01 4.48576177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.502557844 meters Centerline goodness : 0.124449 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.10, Z:0.45 [[ 9.95402496e-01 -2.44759041e-03 -9.57490491e-02 -1.72700093e+01] [ 1.21247668e-03 9.99915338e-01 -1.29555425e-02 -9.65511856e-02] [ 9.57726527e-02 1.27798859e-02 9.95321191e-01 4.48839836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.562557844 meters Centerline goodness : 0.129714 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.10, Z:0.45 [[ 9.95368364e-01 -2.24943177e-03 -9.61080630e-02 -1.72689063e+01] [ 1.04160015e-03 9.99919876e-01 -1.26157542e-02 -9.80091275e-02] [ 9.61287407e-02 1.24572164e-02 9.95290954e-01 4.48647844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.622557844 meters Centerline goodness : 0.127635 with order 3 Centerline is valid? [False, False] Translation: X:-17.27, Y:-0.10, Z:0.45 [[ 9.95323277e-01 -2.19617765e-03 -9.65751031e-02 -1.72672690e+01] [ 9.60925505e-04 9.99917163e-01 -1.28352357e-02 -9.66576197e-02] [ 9.65952916e-02 1.26824073e-02 9.95242938e-01 4.48083930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.68255784400003 meters Centerline goodness : 0.323375 with order 1 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.10, Z:0.45 [[ 9.95452030e-01 6.48310355e-03 -9.50432809e-02 -1.72916536e+01] [-7.76579561e-03 9.99883612e-01 -1.31322066e-02 -9.78303259e-02] [ 9.49470815e-02 1.38105685e-02 9.95386518e-01 4.46091660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74255784400003 meters SLAMing on 451.80255784400003 meters Centerline goodness : 0.128629 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.10, Z:0.45 [[ 9.95465524e-01 6.59248811e-03 -9.48943069e-02 -1.72921939e+01] [-7.86326388e-03 9.99884268e-01 -1.30237839e-02 -9.79733158e-02] [ 9.47974654e-02 1.37109069e-02 9.95402156e-01 4.46242001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.862557844 meters Centerline goodness : 0.138024 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.10, Z:0.45 [[ 9.95445389e-01 6.69850196e-03 -9.50978870e-02 -1.72918977e+01] [-7.91880327e-03 9.99891009e-01 -1.24604695e-02 -1.01253054e-01] [ 9.50040557e-02 1.31567784e-02 9.95389938e-01 4.46551736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.922557844 meters Centerline goodness : 0.221234 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.10, Z:0.45 [[ 9.95425503e-01 6.78315164e-03 -9.52998243e-02 -1.72913961e+01] [-7.99233216e-03 9.99892260e-01 -1.23121994e-02 -1.02152582e-01] [ 9.52060413e-02 1.30175451e-02 9.95372470e-01 4.46655542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.982557844 meters Centerline goodness : 0.237219 with order 3 Centerline is valid? [False, False] Translation: X:-17.29, Y:-0.10, Z:0.45 [[ 9.95430531e-01 7.20416609e-03 -9.52163719e-02 -1.72914242e+01] [-8.41982181e-03 9.99888018e-01 -1.23716995e-02 -9.98967979e-02] [ 9.51165815e-02 1.31168723e-02 9.95379718e-01 4.46272947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.042557844 meters Centerline goodness : 0.151316 with order 1 Centerline is valid? [False, False] Translation: X:-17.34, Y:-0.10, Z:0.44 [[ 9.95309669e-01 7.35675415e-03 -9.64600525e-02 -1.73407229e+01] [-8.47762085e-03 9.99901168e-01 -1.12153259e-02 -1.01986570e-01] [ 9.63680108e-02 1.19804741e-02 9.95273668e-01 4.44193984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.102557844 meters Centerline goodness : 0.212357 with order 3 Centerline is valid? [False, False] Translation: X:-17.32, Y:-0.10, Z:0.45 [[ 9.95071764e-01 3.49825353e-04 -9.91567552e-02 -1.73216135e+01] [-1.50123707e-03 9.99932312e-01 -1.15376601e-02 -9.70367464e-02] [ 9.91460073e-02 1.16296576e-02 9.95004935e-01 4.47529842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.162557844 meters Centerline goodness : 0.132597 with order 3 Centerline is valid? [False, False] Translation: X:-17.32, Y:-0.10, Z:0.45 [[ 9.95042230e-01 3.36527296e-04 -9.94527358e-02 -1.73201007e+01] [-1.48434583e-03 9.99933143e-01 -1.14675779e-02 -9.69061233e-02] [ 9.94422276e-02 1.15583465e-02 9.94976205e-01 4.46596711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.222557844 meters Centerline goodness : 0.135644 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.10, Z:0.44 [[ 9.94849311e-01 -8.82767806e-04 -1.01361078e-01 -1.73672733e+01] [-2.25926033e-04 9.99940283e-01 -1.09260622e-02 -1.01301452e-01] [ 1.01364671e-01 1.08926856e-02 9.94789703e-01 4.43829338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.282557844 meters Centerline goodness : 0.134127 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.10, Z:0.44 [[ 9.94884249e-01 -1.02118841e-03 -1.01016281e-01 -1.73685329e+01] [-8.18719209e-05 9.99940428e-01 -1.09148807e-02 -1.01952724e-01] [ 1.01021410e-01 1.08673133e-02 9.94824897e-01 4.44354147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.342557844 meters Centerline goodness : 0.134991 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.10, Z:0.44 [[ 9.94805542e-01 -1.27992644e-03 -1.01785537e-01 -1.73652892e+01] [ 1.31986983e-04 9.99936325e-01 -1.12839564e-02 -1.00623008e-01] [ 1.01793498e-01 1.12119080e-02 9.94742367e-01 4.42727924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.402557844 meters Centerline goodness : 0.136488 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.10, Z:0.44 [[ 9.94825749e-01 -1.22631494e-03 -1.01588512e-01 -1.73659703e+01] [ 8.09905207e-05 9.99936404e-01 -1.12775104e-02 -1.00198274e-01] [ 1.01595881e-01 1.12109300e-02 9.94762581e-01 4.42918897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.462557844 meters Centerline goodness : 0.131735 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.10, Z:0.44 [[ 9.94882814e-01 -1.09816728e-03 -1.01029602e-01 -1.73680021e+01] [-2.92268088e-05 9.99937760e-01 -1.11568902e-02 -1.00181291e-01] [ 1.01035566e-01 1.11027511e-02 9.94820860e-01 4.43591560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.522557844 meters Centerline goodness : 0.131843 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.10, Z:0.44 [[ 9.94863614e-01 -1.22468913e-03 -1.01217040e-01 -1.73669172e+01] [ 6.11201661e-05 9.99933893e-01 -1.14980831e-02 -9.83826286e-02] [ 1.01224430e-01 1.14328381e-02 9.94797922e-01 4.42781125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.582557844 meters Centerline goodness : 0.211899 with order 2 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.09, Z:0.44 [[ 9.94854587e-01 -1.03529492e-03 -1.01307846e-01 -1.73663974e+01] [-1.70904459e-04 9.99929215e-01 -1.18968744e-02 -9.47759798e-02] [ 1.01312992e-01 1.18529740e-02 9.94783989e-01 4.42251146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.642557844 meters Centerline goodness : 0.149203 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.09, Z:0.44 [[ 9.94886104e-01 -9.59468839e-04 -1.00998615e-01 -1.73672219e+01] [-2.93823085e-04 9.99923156e-01 -1.23933939e-02 -9.09036740e-02] [ 1.01002745e-01 1.23596911e-02 9.94809370e-01 4.42113339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.702557844 meters Centerline goodness : 0.138090 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.09, Z:0.44 [[ 9.94939690e-01 -1.17759712e-03 -1.00467038e-01 -1.73689751e+01] [-1.27129639e-04 9.99915758e-01 -1.29792245e-02 -8.78654949e-02] [ 1.00473859e-01 1.29263179e-02 9.94855725e-01 4.42482700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.762557844 meters Centerline goodness : 0.136487 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.09, Z:0.44 [[ 9.94942653e-01 -1.33906665e-03 -1.00435674e-01 -1.73692458e+01] [ 8.27227778e-06 9.99912222e-01 -1.32494622e-02 -8.63384668e-02] [ 1.00444599e-01 1.31816243e-02 9.94855330e-01 4.42655922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.822557844 meters Centerline goodness : 0.141937 with order 3 Centerline is valid? [False, False] Translation: X:-17.37, Y:-0.09, Z:0.44 [[ 9.94919988e-01 -1.74059841e-03 -1.00653800e-01 -1.73686999e+01] [ 3.95066587e-04 9.99910321e-01 -1.33863070e-02 -8.70296192e-02] [ 1.00668074e-01 1.32785394e-02 9.94831453e-01 4.42752325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.882557844 meters Centerline goodness : 0.140404 with order 1 Centerline is valid? [False, False] Translation: X:-17.41, Y:-0.09, Z:0.44 [[ 9.94550052e-01 -5.28231826e-03 -1.04126322e-01 -1.74098412e+01] [ 3.77218868e-03 9.99884915e-01 -1.46944582e-02 -9.14766400e-02] [ 1.04191960e-01 1.42215900e-02 9.94455520e-01 4.38015413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.942557844 meters Centerline goodness : 0.143296 with order 3 Centerline is valid? [False, False] Translation: X:-17.41, Y:-0.09, Z:0.44 [[ 9.94518169e-01 -5.42217163e-03 -1.04423229e-01 -1.74091421e+01] [ 3.90164817e-03 9.99883454e-01 -1.47599315e-02 -9.15153885e-02] [ 1.04491090e-01 1.42715973e-02 9.94423418e-01 4.38167770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.002557844 meters Centerline goodness : 0.122484 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.09, Z:0.44 [[ 9.94575322e-01 2.28358848e-03 -1.03993821e-01 -1.74305756e+01] [-3.94132422e-03 9.99868382e-01 -1.57380108e-02 -9.40662116e-02] [ 1.03944194e-01 1.60625105e-02 9.94453418e-01 4.35264367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.062557844 meters Centerline goodness : 0.145711 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.09, Z:0.44 [[ 9.94619492e-01 2.17387382e-03 -1.03572878e-01 -1.74316579e+01] [-3.87797119e-03 9.99860365e-01 -1.62545976e-02 -9.07337869e-02] [ 1.03523080e-01 1.65687923e-02 9.94489038e-01 4.35221280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.122557844 meters Centerline goodness : 0.144836 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.09, Z:0.44 [[ 9.94598407e-01 1.94782540e-03 -1.03779649e-01 -1.74309983e+01] [-3.69673227e-03 9.99854338e-01 -1.66624417e-02 -8.90217138e-02] [ 1.03732077e-01 1.69560835e-02 9.94460732e-01 4.35024387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.18255784400003 meters SLAMing on 453.24255784400003 meters Centerline goodness : 0.127751 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.10, Z:0.43 [[ 9.94520536e-01 -4.58325187e-03 -1.04440882e-01 -1.74287685e+01] [ 2.39255900e-03 9.99774696e-01 -2.10910722e-02 -9.92898995e-02] [ 1.04514017e-01 2.07256234e-02 9.94307432e-01 4.34542809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30255784400003 meters Centerline goodness : 0.126828 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.10, Z:0.43 [[ 9.94545986e-01 -4.10006901e-03 -1.04218386e-01 -1.74297194e+01] [ 2.00560107e-03 9.99794073e-01 -2.01937708e-02 -1.02885086e-01] [ 1.04279721e-01 1.98746131e-02 9.94349405e-01 4.34995126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.362557844 meters Centerline goodness : 0.139562 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.11, Z:0.43 [[ 9.94554761e-01 -8.04036055e-03 -1.03904671e-01 -1.74303363e+01] [ 5.64310454e-03 9.99711539e-01 -2.33450981e-02 -1.07173107e-01] [ 1.04062402e-01 2.26316335e-02 9.94313243e-01 4.34794995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.422557844 meters Centerline goodness : 0.176231 with order 3 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.12, Z:0.43 [[ 9.94829966e-01 -1.98519362e-03 -1.01535207e-01 -1.74485896e+01] [-4.15120640e-04 9.99721073e-01 -2.36136255e-02 -1.18672385e-01] [ 1.01553763e-01 2.35336917e-02 9.94551657e-01 4.30976957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.482557844 meters Centerline goodness : 0.145860 with order 3 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.12, Z:0.43 [[ 9.94853289e-01 -1.56389329e-03 -1.01313805e-01 -1.74493233e+01] [-7.28122903e-04 9.99744729e-01 -2.25820118e-02 -1.24054510e-01] [ 1.01323258e-01 2.25395576e-02 9.94598193e-01 4.31148277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.542557844 meters Centerline goodness : 0.141592 with order 3 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.13, Z:0.43 [[ 9.94808320e-01 -1.07612285e-03 -1.01760739e-01 -1.74479996e+01] [-1.09202286e-03 9.99773635e-01 -2.12482014e-02 -1.30675832e-01] [ 1.01760570e-01 2.12490126e-02 9.94581955e-01 4.30633550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.602557844 meters Centerline goodness : 0.234746 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.13, Z:0.43 [[ 9.94794881e-01 -8.18503730e-03 -1.01568447e-01 -1.74283522e+01] [ 6.22086405e-03 9.99787761e-01 -1.96401191e-02 -1.29306482e-01] [ 1.01707645e-01 1.89060464e-02 9.94634665e-01 4.33991939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.662557844 meters Centerline goodness : 0.226865 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.13, Z:0.43 [[ 9.94776162e-01 -7.99370673e-03 -1.01766830e-01 -1.74276022e+01] [ 6.06693901e-03 9.99796706e-01 -1.92286165e-02 -1.31538505e-01] [ 1.01899850e-01 1.85107562e-02 9.94622427e-01 4.33735783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.722557844 meters Centerline goodness : 0.209759 with order 3 Centerline is valid? [False, False] Translation: X:-17.41, Y:-0.13, Z:0.44 [[ 9.94677942e-01 1.37165112e-03 -1.03023833e-01 -1.74065452e+01] [-3.34730675e-03 9.99813762e-01 -1.90062481e-02 -1.34544879e-01] [ 1.02978576e-01 1.92499481e-02 9.94497286e-01 4.35867949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.782557844 meters Centerline goodness : 0.217128 with order 3 Centerline is valid? [False, False] Translation: X:-17.40, Y:-0.13, Z:0.44 [[ 9.94529245e-01 1.22257969e-03 -1.04451362e-01 -1.74018832e+01] [-3.29815621e-03 9.99800480e-01 -1.97008158e-02 -1.31710816e-01] [ 1.04406436e-01 1.99375343e-02 9.94334848e-01 4.35020240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.842557844 meters Centerline goodness : 0.144843 with order 1 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.13, Z:0.43 [[ 9.94136071e-01 3.73840253e-04 -1.08135709e-01 -1.74454881e+01] [-2.49821201e-03 9.99806529e-01 -1.95106201e-02 -1.31551791e-01] [ 1.08107494e-01 1.96663571e-02 9.93944669e-01 4.31661409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.902557844 meters Centerline goodness : 0.220043 with order 3 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.13, Z:0.43 [[ 9.94190909e-01 5.54830707e-04 -1.07629591e-01 -1.74478088e+01] [-2.64504652e-03 9.99810650e-01 -1.92786718e-02 -1.31745338e-01] [ 1.07598515e-01 1.94513655e-02 9.94004127e-01 4.32888101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.962557844 meters Centerline goodness : 0.139512 with order 1 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.13, Z:0.43 [[ 9.94250923e-01 2.96451573e-04 -1.07074806e-01 -1.74499056e+01] [-2.37347875e-03 9.99811480e-01 -1.92709922e-02 -1.33136549e-01] [ 1.07048908e-01 1.94143416e-02 9.94064190e-01 4.33767564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.022557844 meters Centerline goodness : 0.124881 with order 3 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.13, Z:0.43 [[ 9.94273912e-01 4.45286847e-04 -1.06860608e-01 -1.74506635e+01] [-2.49474290e-03 9.99815499e-01 -1.90458686e-02 -1.33673934e-01] [ 1.06832411e-01 1.92034000e-02 9.94091578e-01 4.33986908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.082557844 meters Centerline goodness : 0.144358 with order 1 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.14, Z:0.43 [[ 9.94272567e-01 5.35805676e-04 -1.06872707e-01 -1.74508634e+01] [-2.55991994e-03 9.99819927e-01 -1.88032008e-02 -1.35051385e-01] [ 1.06843387e-01 1.89690923e-02 9.94094897e-01 4.34294124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.142557844 meters Centerline goodness : 0.146759 with order 3 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.14, Z:0.43 [[ 9.94262007e-01 5.84733769e-04 -1.06970650e-01 -1.74508390e+01] [-2.59361439e-03 9.99822867e-01 -1.86415811e-02 -1.36077582e-01] [ 1.06940802e-01 1.88120565e-02 9.94087406e-01 4.34566693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.202557844 meters Centerline goodness : 0.225755 with order 3 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.14, Z:0.43 [[ 9.94252580e-01 7.56497084e-04 -1.07057156e-01 -1.74508620e+01] [-2.72908584e-03 9.99829177e-01 -1.82802612e-02 -1.37828948e-01] [ 1.07025040e-01 1.84673650e-02 9.94084804e-01 4.34869635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.262557844 meters Centerline goodness : 0.221274 with order 3 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.14, Z:0.44 [[ 9.94244729e-01 8.62391459e-04 -1.07129241e-01 -1.74511498e+01] [-2.79096512e-03 9.99836715e-01 -1.78536849e-02 -1.40474748e-01] [ 1.07096352e-01 1.80499261e-02 9.94084791e-01 4.35417186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.322557844 meters Centerline goodness : 0.134465 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.14, Z:0.44 [[ 9.94262712e-01 9.98266742e-03 -1.06498858e-01 -1.74310902e+01] [-1.20194623e-02 9.99756605e-01 -1.85003437e-02 -1.44987009e-01] [ 1.06288254e-01 1.96742609e-02 9.94140700e-01 4.38112245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.382557844 meters Centerline goodness : 0.125875 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.14, Z:0.44 [[ 9.94135692e-01 1.30936168e-02 -1.07344226e-01 -1.74274057e+01] [-1.49363987e-02 9.99754253e-01 -1.63810202e-02 -1.40265310e-01] [ 1.07103360e-01 1.78882930e-02 9.94086958e-01 4.37316687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.442557844 meters Centerline goodness : 0.138170 with order 1 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.14, Z:0.43 [[ 9.93668274e-01 1.34464628e-02 -1.11546192e-01 -1.74651703e+01] [-1.53202437e-02 9.99755284e-01 -1.59581233e-02 -1.39269924e-01] [ 1.11304315e-01 1.75659957e-02 9.93631111e-01 4.32715694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.502557844 meters Centerline goodness : 0.125777 with order 3 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.14, Z:0.43 [[ 9.93690785e-01 1.34057470e-02 -1.11350395e-01 -1.74657119e+01] [-1.52973124e-02 9.99752546e-01 -1.61505373e-02 -1.38044172e-01] [ 1.11106331e-01 1.77520019e-02 9.93649963e-01 4.32742121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.562557844 meters Centerline goodness : 0.134913 with order 1 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.13, Z:0.44 [[ 9.93524163e-01 6.33234963e-03 -1.13444434e-01 -1.74472433e+01] [-8.15657019e-03 9.99844678e-01 -1.56233622e-02 -1.30247657e-01] [ 1.13327881e-01 1.64475054e-02 9.93421497e-01 4.36744193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.622557844 meters Centerline goodness : 0.245410 with order 3 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.13, Z:0.44 [[ 9.93536505e-01 6.21915011e-03 -1.13342554e-01 -1.74475745e+01] [-8.07302166e-03 9.99840921e-01 -1.59047144e-02 -1.28562452e-01] [ 1.13225610e-01 1.67169313e-02 9.93428661e-01 4.36771937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.68255784400003 meters Centerline goodness : 0.136509 with order 1 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.13, Z:0.44 [[ 9.93537710e-01 5.88320973e-03 -1.13349931e-01 -1.74478997e+01] [-7.79680667e-03 9.99834351e-01 -1.64462938e-02 -1.26690391e-01] [ 1.13234398e-01 1.72237805e-02 9.93419002e-01 4.37242448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74255784400003 meters Centerline goodness : 0.130843 with order 1 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.13, Z:0.44 [[ 9.93587179e-01 6.12585750e-03 -1.12902578e-01 -1.74490701e+01] [-7.98185008e-03 9.99840225e-01 -1.59941889e-02 -1.28149837e-01] [ 1.12786561e-01 1.67927925e-02 9.93477324e-01 4.37080812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80255784400003 meters Centerline goodness : 0.174773 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.13, Z:0.44 [[ 9.93685203e-01 -2.47030436e-03 -1.12176709e-01 -1.74285118e+01] [ 7.70604693e-04 9.99884286e-01 -1.51928154e-02 -1.27681596e-01] [ 1.12201259e-01 1.50104320e-02 9.93572123e-01 4.39309046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.862557844 meters Centerline goodness : 0.140225 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.14, Z:0.44 [[ 9.93857293e-01 -3.44120116e-03 -1.10615726e-01 -1.74333208e+01] [ 1.77718614e-03 9.99883830e-01 -1.51382814e-02 -1.37070401e-01] [ 1.10654970e-01 1.48487066e-02 9.93747953e-01 4.40257649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.922557844 meters Centerline goodness : 0.137460 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.14, Z:0.44 [[ 9.93873915e-01 -3.06201756e-03 -1.10477446e-01 -1.74336938e+01] [ 1.42676302e-03 9.99888303e-01 -1.48777244e-02 -1.37730405e-01] [ 1.10510662e-01 1.46289571e-02 9.93767270e-01 4.40286696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.982557844 meters Centerline goodness : 0.133455 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.14, Z:0.44 [[ 9.93821520e-01 1.05643457e-03 -1.10985003e-01 -1.74317403e+01] [-2.35348167e-03 9.99930454e-01 -1.15563329e-02 -1.35299915e-01] [ 1.10965076e-01 1.17461335e-02 9.93754889e-01 4.39474937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.042557844 meters Centerline goodness : 0.237538 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.13, Z:0.44 [[ 9.93866880e-01 5.09434888e-03 -1.10465703e-01 -1.74330709e+01] [-6.11267267e-03 9.99941873e-01 -8.88176268e-03 -1.29092836e-01] [ 1.10414035e-01 9.50253045e-03 9.93840250e-01 4.39261939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.102557844 meters Centerline goodness : 0.123469 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.12, Z:0.44 [[ 9.93843621e-01 4.53861476e-03 -1.10698949e-01 -1.74320689e+01] [-5.68795238e-03 9.99933129e-01 -1.00689658e-02 -1.23227040e-01] [ 1.10645848e-01 1.06366278e-02 9.93802978e-01 4.38569161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.162557844 meters Centerline goodness : 0.130794 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.12, Z:0.44 [[ 9.93734026e-01 3.95798890e-03 -1.11700581e-01 -1.74288341e+01] [-5.16572742e-03 9.99931268e-01 -1.05249430e-02 -1.22299930e-01] [ 1.11651246e-01 1.10360088e-02 9.93686171e-01 4.37831790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.222557844 meters Centerline goodness : 0.136300 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.12, Z:0.44 [[ 9.93751548e-01 2.88752116e-03 -1.11577430e-01 -1.74294646e+01] [-4.17489979e-03 9.99927369e-01 -1.13060653e-02 -1.21009488e-01] [ 1.11536679e-01 1.17012445e-02 9.93691426e-01 4.38366502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.282557844 meters Centerline goodness : 0.129789 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.12, Z:0.44 [[ 9.93738914e-01 2.73383679e-03 -1.11693760e-01 -1.74290825e+01] [-4.04173278e-03 9.99925878e-01 -1.14849119e-02 -1.20049710e-01] [ 1.11654083e-01 1.18644402e-02 9.93676306e-01 4.38247971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.342557844 meters Centerline goodness : 0.135342 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.12, Z:0.44 [[ 9.93679623e-01 2.49459289e-03 -1.12225593e-01 -1.74276402e+01] [-3.80962971e-03 9.99926560e-01 -1.15048778e-02 -1.20710797e-01] [ 1.12188651e-01 1.18597006e-02 9.93616150e-01 4.38201681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.402557844 meters Centerline goodness : 0.128619 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.12, Z:0.44 [[ 9.93657586e-01 2.55691193e-03 -1.12419148e-01 -1.74274775e+01] [-3.83916906e-03 9.99930008e-01 -1.11910338e-02 -1.22689808e-01] [ 1.12382665e-01 1.15516518e-02 9.93597854e-01 4.38717371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.462557844 meters Centerline goodness : 0.138428 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.12, Z:0.44 [[ 9.93740373e-01 3.68726035e-04 -1.11713632e-01 -1.74318847e+01] [-1.84966198e-03 9.99911782e-01 -1.31531869e-02 -1.23225540e-01] [ 1.11698927e-01 1.32774853e-02 9.93653389e-01 4.40938321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.522557844 meters Centerline goodness : 0.134195 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.12, Z:0.44 [[ 9.93779002e-01 4.71120539e-03 -1.11270386e-01 -1.74338664e+01] [-5.78419381e-03 9.99939818e-01 -9.32223325e-03 -1.22535757e-01] [ 1.11219771e-01 9.90784914e-03 9.93746445e-01 4.41982850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.582557844 meters Centerline goodness : 0.139839 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.12, Z:0.44 [[ 9.93741383e-01 8.49963690e-03 -1.11381414e-01 -1.74341603e+01] [-9.31212686e-03 9.99933680e-01 -6.77646831e-03 -1.16522417e-01] [ 1.11316430e-01 7.77125485e-03 9.93754628e-01 4.42537108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.642557844 meters Centerline goodness : 0.134644 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.11, Z:0.44 [[ 9.93738579e-01 9.08625043e-03 -1.11360120e-01 -1.74341894e+01] [-9.92428915e-03 9.99926437e-01 -6.97347469e-03 -1.11450032e-01] [ 1.11288565e-01 8.03498086e-03 9.93755651e-01 4.42280628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.702557844 meters Centerline goodness : 0.136472 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.11, Z:0.44 [[ 9.93891656e-01 1.09968617e-02 -1.09810951e-01 -1.74408213e+01] [-1.17008639e-02 9.99914902e-01 -5.76868845e-03 -1.05481057e-01] [ 1.09738169e-01 7.01833432e-03 9.93935751e-01 4.44644622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.762557844 meters Centerline goodness : 0.228312 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.10, Z:0.44 [[ 9.93908824e-01 1.05672081e-02 -1.09697692e-01 -1.74410714e+01] [-1.13665101e-02 9.99913196e-01 -6.66362048e-03 -1.01100489e-01] [ 1.09617754e-01 7.86991112e-03 9.93942661e-01 4.44521423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.822557844 meters Centerline goodness : 0.147565 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.09, Z:0.44 [[ 9.93716070e-01 1.25045724e-02 -1.11229528e-01 -1.74347589e+01] [-1.32524931e-02 9.99894256e-01 -5.98730635e-03 -9.06249084e-02] [ 1.11142898e-01 7.42375110e-03 9.93776707e-01 4.42185800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.882557844 meters Centerline goodness : 0.138148 with order 1 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.08, Z:0.44 [[ 9.93702997e-01 4.74753248e-03 -1.11945592e-01 -1.74525449e+01] [-5.30991062e-03 9.99974734e-01 -4.72605984e-03 -7.90684791e-02] [ 1.11920327e-01 5.29072091e-03 9.93703099e-01 4.37303580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.942557844 meters Centerline goodness : 0.138062 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.07, Z:0.44 [[ 9.93836647e-01 -3.82147558e-03 -1.10788605e-01 -1.74346730e+01] [ 3.28569907e-03 9.99982011e-01 -5.01819375e-03 -6.79879409e-02] [ 1.10805789e-01 4.62324683e-03 9.93831325e-01 4.41593212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.002557844 meters Centerline goodness : 0.133982 with order 1 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.07, Z:0.44 [[ 9.93742383e-01 -1.38244168e-02 -1.10837543e-01 -1.74578760e+01] [ 1.33690880e-02 9.99898866e-01 -4.85024581e-03 -6.53896293e-02] [ 1.10893385e-01 3.33809798e-03 9.93826702e-01 4.39440700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.062557844 meters Centerline goodness : 0.141281 with order 1 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.07, Z:0.44 [[ 9.93728570e-01 -1.38595829e-02 -1.10956933e-01 -1.74574196e+01] [ 1.34183555e-02 9.99898818e-01 -4.72234857e-03 -6.62119215e-02] [ 1.11011156e-01 3.20387312e-03 9.93813996e-01 4.39303558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.122557844 meters Centerline goodness : 0.126096 with order 3 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.07, Z:0.44 [[ 9.93684169e-01 -1.46493055e-02 -1.11252735e-01 -1.74565991e+01] [ 1.41873416e-02 9.99887137e-01 -4.94293825e-03 -6.80566600e-02] [ 1.11312589e-01 3.33333892e-03 9.93779853e-01 4.39462472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.18255784400003 meters Centerline goodness : 0.119308 with order 2 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.07, Z:0.44 [[ 9.93651112e-01 -1.44663754e-02 -1.11571468e-01 -1.74564173e+01] [ 1.40534121e-02 9.99891179e-01 -4.48692343e-03 -7.04154459e-02] [ 1.11624236e-01 2.89047664e-03 9.93746283e-01 4.40375397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24255784400003 meters Centerline goodness : 0.123292 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.08, Z:0.44 [[ 9.93833854e-01 -6.27209048e-03 -1.10701998e-01 -1.74379342e+01] [ 5.64140356e-03 9.99966030e-01 -6.00946321e-03 -7.56442400e-02] [ 1.10735929e-01 5.34789334e-03 9.93835476e-01 4.44340061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30255784400003 meters Centerline goodness : 0.140737 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.08, Z:0.44 [[ 9.93886766e-01 -5.90252997e-03 -1.10246344e-01 -1.74393217e+01] [ 5.30090824e-03 9.99969422e-01 -5.74936930e-03 -7.60579180e-02] [ 1.10276908e-01 5.12981631e-03 9.93887664e-01 4.44540024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.362557844 meters Centerline goodness : 0.140774 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.08, Z:0.44 [[ 9.93820588e-01 -4.77245373e-03 -1.10895732e-01 -1.74370760e+01] [ 4.22966920e-03 9.99977900e-01 -5.12928608e-03 -7.58520577e-02] [ 1.10917760e-01 4.62853785e-03 9.93818810e-01 4.43628939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.422557844 meters Centerline goodness : 0.134670 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.07, Z:0.44 [[ 9.93876368e-01 -4.34263703e-03 -1.10412440e-01 -1.74385199e+01] [ 3.80887879e-03 9.99980022e-01 -5.04468200e-03 -7.48786486e-02] [ 1.10432141e-01 4.59324262e-03 9.93873052e-01 4.43705970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.482557844 meters Centerline goodness : 0.120132 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.07, Z:0.44 [[ 9.93800708e-01 -3.99242692e-03 -1.11104516e-01 -1.74362405e+01] [ 3.42544157e-03 9.99980122e-01 -5.29358598e-03 -7.15917953e-02] [ 1.11123442e-01 4.88018747e-03 9.93794629e-01 4.42867675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.542557844 meters Centerline goodness : 0.123163 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.07, Z:0.44 [[ 9.93847292e-01 -4.10593291e-03 -1.10682892e-01 -1.74379486e+01] [ 3.52422273e-03 9.99978934e-01 -5.45077187e-03 -7.04860496e-02] [ 1.10702940e-01 5.02716370e-03 9.93840826e-01 4.43520015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.602557844 meters Centerline goodness : 0.269998 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.07, Z:0.45 [[ 9.93935794e-01 -6.69752390e-03 -1.09757827e-01 -1.74425802e+01] [ 5.91916466e-03 9.99954983e-01 -7.41589732e-03 -7.22592157e-02] [ 1.09802554e-01 6.72125114e-03 9.93930694e-01 4.45632989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.662557844 meters Centerline goodness : 0.133664 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.08, Z:0.45 [[ 9.93878486e-01 -1.13161685e-02 -1.09897674e-01 -1.74418058e+01] [ 1.01842329e-02 9.99889211e-01 -1.08557787e-02 -7.60038561e-02] [ 1.10008345e-01 9.67010140e-03 9.93883622e-01 4.45324342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.722557844 meters Centerline goodness : 0.138010 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.08, Z:0.45 [[ 9.93841024e-01 -1.16518968e-02 -1.10200961e-01 -1.74414634e+01] [ 1.05542927e-02 9.99888771e-01 -1.05381273e-02 -7.87627319e-02] [ 1.10311492e-01 9.31012999e-03 9.93853458e-01 4.46046523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.782557844 meters Centerline goodness : 0.230602 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.08, Z:0.45 [[ 9.93910213e-01 -1.25409939e-02 -1.09476996e-01 -1.74437664e+01] [ 1.14262296e-02 9.99876349e-01 -1.08040681e-02 -8.04037954e-02] [ 1.09598953e-01 9.48736434e-03 9.93930611e-01 4.46777417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.842557844 meters Centerline goodness : 0.135103 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.08, Z:0.45 [[ 9.93894004e-01 -1.25882335e-02 -1.09618633e-01 -1.74431180e+01] [ 1.14782259e-02 9.99876323e-01 -1.07512450e-02 -8.07904611e-02] [ 1.09740415e-01 9.42737052e-03 9.93915573e-01 4.46383658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.902557844 meters Centerline goodness : 0.144352 with order 1 Centerline is valid? [False, False] Translation: X:-17.45, Y:-0.08, Z:0.45 [[ 9.93971623e-01 -1.28861068e-02 -1.08877730e-01 -1.74459148e+01] [ 1.17654942e-02 9.99871061e-01 -1.09285704e-02 -8.01460499e-02] [ 1.09004518e-01 9.58168855e-03 9.93995074e-01 4.47433717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.962557844 meters Centerline goodness : 0.128126 with order 3 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.09, Z:0.44 [[ 9.94364910e-01 -8.04162475e-03 -1.05705999e-01 -1.74639686e+01] [ 6.73362559e-03 9.99896361e-01 -1.27250140e-02 -8.70605908e-02] [ 1.05797374e-01 1.19415227e-02 9.94316004e-01 4.43086690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.022557844 meters Centerline goodness : 0.117249 with order 3 Centerline is valid? [False, False] Translation: X:-17.47, Y:-0.09, Z:0.44 [[ 9.94405026e-01 -8.33912140e-03 -1.05304808e-01 -1.74651439e+01] [ 7.04761514e-03 9.99895394e-01 -1.26306214e-02 -8.76155294e-02] [ 1.05399121e-01 1.18178056e-02 9.94359776e-01 4.42790551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.082557844 meters Centerline goodness : 0.237116 with order 3 Centerline is valid? [False, False] Translation: X:-17.48, Y:-0.10, Z:0.44 [[ 9.94620791e-01 -2.87231243e-03 -1.03543382e-01 -1.74822477e+01] [ 1.36955752e-03 9.99892747e-01 -1.45814629e-02 -9.51387198e-02] [ 1.03574159e-01 1.43612175e-02 9.94518049e-01 4.38010956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.142557844 meters Centerline goodness : 0.140982 with order 1 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.09, Z:0.44 [[ 9.94609560e-01 -1.09162720e-02 -1.03114780e-01 -1.74618345e+01] [ 9.53051109e-03 9.99857661e-01 -1.39221627e-02 -9.02446387e-02] [ 1.03252081e-01 1.28643796e-02 9.94572026e-01 4.40514251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.202557844 meters Centerline goodness : 0.136014 with order 1 Centerline is valid? [False, False] Translation: X:-17.48, Y:-0.10, Z:0.44 [[ 9.94562728e-01 -2.96475415e-03 -1.04097024e-01 -1.74787826e+01] [ 1.35868362e-03 9.99879005e-01 -1.54961139e-02 -9.72308035e-02] [ 1.04130371e-01 1.52704224e-02 9.94446419e-01 4.37215145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.262557844 meters Centerline goodness : 0.215099 with order 3 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.09, Z:0.44 [[ 9.94331541e-01 -1.06420711e-02 -1.05790038e-01 -1.74569016e+01] [ 9.10167805e-03 9.99845572e-01 -1.50330042e-02 -9.26477672e-02] [ 1.05933683e-01 1.39849233e-02 9.94274850e-01 4.40233365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.322557844 meters Centerline goodness : 0.137433 with order 3 Centerline is valid? [False, False] Translation: X:-17.48, Y:-0.10, Z:0.44 [[ 9.94513710e-01 -3.02741673e-03 -1.04562500e-01 -1.74755477e+01] [ 1.42350151e-03 9.99880238e-01 -1.54105191e-02 -1.03771812e-01] [ 1.04596631e-01 1.51771276e-02 9.94398914e-01 4.35497099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.382557844 meters Centerline goodness : 0.163467 with order 3 Centerline is valid? [False, False] Translation: X:-17.48, Y:-0.11, Z:0.44 [[ 9.94566173e-01 -3.15103415e-03 -1.04058626e-01 -1.74770777e+01] [ 1.58133592e-03 9.99883772e-01 -1.51638048e-02 -1.05904473e-01] [ 1.04094313e-01 1.49168557e-02 9.94455560e-01 4.35801907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.442557844 meters Centerline goodness : 0.181131 with order 3 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.10, Z:0.44 [[ 9.94538734e-01 -1.03377980e-02 -1.03854878e-01 -1.74582821e+01] [ 8.97333487e-03 9.99867294e-01 -1.35968289e-02 -1.02324184e-01] [ 1.03981657e-01 1.25906484e-02 9.94499518e-01 4.39818362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.502557844 meters Centerline goodness : 0.223866 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.11, Z:0.44 [[ 9.94522762e-01 -1.93270740e-03 -1.04502350e-01 -1.74394634e+01] [ 5.38169158e-04 9.99910458e-01 -1.33711143e-02 -1.06500054e-01] [ 1.04518835e-01 1.32416375e-02 9.94434750e-01 4.41441838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.562557844 meters Centerline goodness : 0.218864 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.11, Z:0.44 [[ 9.94570919e-01 -2.07024838e-03 -1.04040381e-01 -1.74409026e+01] [ 6.54652368e-04 9.99906777e-01 -1.36385235e-02 -1.05173031e-01] [ 1.04058917e-01 1.34963686e-02 9.94479557e-01 4.41716043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.622557844 meters Centerline goodness : 0.121145 with order 3 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.10, Z:0.44 [[ 9.94636218e-01 -1.04364909e-02 -1.02907107e-01 -1.74206050e+01] [ 9.13741186e-03 9.99872609e-01 -1.30871483e-02 -1.01996762e-01] [ 1.03030581e-01 1.20766471e-02 9.94604873e-01 4.44627489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.68255784400003 meters Centerline goodness : 0.133915 with order 3 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.11, Z:0.44 [[ 9.94990179e-01 -5.56889798e-03 -9.98174862e-02 -1.74433922e+01] [ 4.11739481e-03 9.99882858e-01 -1.47416879e-02 -1.11883193e-01] [ 9.98878883e-02 1.42568467e-02 9.94896553e-01 4.41166614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74255784400003 meters Centerline goodness : 0.235878 with order 3 Centerline is valid? [False, False] Translation: X:-17.42, Y:-0.11, Z:0.44 [[ 9.94817313e-01 -1.32287007e-02 -1.00814258e-01 -1.74221910e+01] [ 1.18867452e-02 9.99832730e-01 -1.39002958e-02 -1.06980738e-01] [ 1.00981278e-01 1.26299015e-02 9.94808156e-01 4.44060053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80255784400003 meters Centerline goodness : 0.089970 with order 1 Centerline is valid? [False, False] Translation: X:-17.44, Y:-0.11, Z:0.44 [[ 9.94668948e-01 -1.92812282e-03 -1.03101726e-01 -1.74380424e+01] [ 4.79503204e-04 9.99900851e-01 -1.40733308e-02 -1.07643261e-01] [ 1.03118639e-01 1.39488675e-02 9.94571252e-01 4.42342250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.862557844 meters Centerline goodness : 0.092049 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.10, Z:0.44 [[ 9.94587920e-01 3.69420375e-04 -1.03897708e-01 -1.74347755e+01] [-1.63936531e-03 9.99924989e-01 -1.21379028e-02 -1.02863095e-01] [ 1.03885430e-01 1.22425378e-02 9.94513920e-01 4.41350766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.922557844 meters Centerline goodness : 0.094873 with order 1 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.10, Z:0.44 [[ 9.94545702e-01 6.28879606e-05 -1.04301695e-01 -1.74331480e+01] [-1.34215264e-03 9.99924739e-01 -1.21949017e-02 -1.01946779e-01] [ 1.04293078e-01 1.22683758e-02 9.94470935e-01 4.40590224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.982557844 meters Centerline goodness : 0.092909 with order 3 Centerline is valid? [False, False] Translation: X:-17.43, Y:-0.10, Z:0.44 [[ 9.94511207e-01 -9.89545626e-05 -1.04630055e-01 -1.74322633e+01] [-1.16785248e-03 9.99926760e-01 -1.20461534e-02 -1.02140197e-01] [ 1.04623584e-01 1.21022271e-02 9.94438254e-01 4.40525026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.042557844 meters Centerline goodness : 0.250704 with order 3 Centerline is valid? [False, False] Translation: X:-17.41, Y:-0.10, Z:0.44 [[ 9.94408968e-01 -9.00326195e-03 -1.05212855e-01 -1.74107688e+01] [ 7.86291702e-03 9.99905821e-01 -1.12482342e-02 -1.02105625e-01] [ 1.05304217e-01 1.03580650e-02 9.94386108e-01 4.43716516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.102557844 meters Centerline goodness : 0.254055 with order 3 Centerline is valid? [False, False] Translation: X:-17.46, Y:-0.10, Z:0.44 [[ 9.94238684e-01 -1.10566831e-02 -1.06617022e-01 -1.74568549e+01] [ 9.90412869e-03 9.99886722e-01 -1.13336752e-02 -1.04811326e-01] [ 1.06730257e-01 1.02124296e-02 9.94235565e-01 4.40001934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.162557844 meters Centerline goodness : 0.103288 with order 1 Centerline is valid? [False, False] Translation: X:-17.48, Y:-0.11, Z:0.44 [[ 9.94365616e-01 -3.91105485e-03 -1.05932650e-01 -1.74766818e+01] [ 2.66631147e-03 9.99925764e-01 -1.18894039e-02 -1.12202548e-01] [ 1.05971286e-01 1.15399650e-02 9.94302226e-01 4.36740811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.222557844 meters Centerline goodness : 0.234100 with order 3 Centerline is valid? [False, False] Translation: X:-17.48, Y:-0.11, Z:0.44 [[ 9.94366697e-01 -3.85445933e-03 -1.05924570e-01 -1.74767691e+01] [ 2.60573358e-03 9.99925503e-01 -1.19246883e-02 -1.11414582e-01] [ 1.05962642e-01 1.15815017e-02 9.94302664e-01 4.36835268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.282557844 meters Centerline goodness : 0.235551 with order 3 Centerline is valid? [False, False] Translation: X:-17.52, Y:-0.11, Z:0.43 [[ 9.94882901e-01 -3.54897046e-03 -1.00972362e-01 -1.75225096e+01] [ 2.36273406e-03 9.99926813e-01 -1.18652964e-02 -1.07443460e-01] [ 1.01007082e-01 1.15660096e-02 9.94818474e-01 4.32239670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.342557844 meters Centerline goodness : 0.228690 with order 1 Centerline is valid? [False, False] Translation: X:-17.53, Y:-0.10, Z:0.43 [[ 9.95001113e-01 -1.57659343e-03 -9.98513823e-02 -1.75274313e+01] [ 5.44333470e-04 9.99946140e-01 -1.03643643e-02 -1.03504933e-01] [ 9.98623447e-02 1.02582016e-02 9.94948381e-01 4.34091844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.402557844 meters Centerline goodness : 0.093869 with order 1 Centerline is valid? [False, False] Translation: X:-17.53, Y:-0.10, Z:0.43 [[ 9.95028979e-01 -1.86463244e-03 -9.95683412e-02 -1.75286337e+01] [ 7.73575583e-04 9.99939250e-01 -1.09953528e-02 -9.98251885e-02] [ 9.95827947e-02 1.08636710e-02 9.94969973e-01 4.34728487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.462557844 meters Centerline goodness : 0.096356 with order 1 Centerline is valid? [False, False] Translation: X:-17.53, Y:-0.09, Z:0.44 [[ 9.95037750e-01 -2.61864913e-03 -9.94636591e-02 -1.75291791e+01] [ 1.39408692e-03 9.99922403e-01 -1.23791627e-02 -9.25142204e-02] [ 9.94883577e-02 1.21790732e-02 9.94964189e-01 4.35141941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.522557844 meters Centerline goodness : 0.093998 with order 1 Centerline is valid? [False, False] Translation: X:-17.55, Y:-0.08, Z:0.43 [[ 9.94852110e-01 -1.09449336e-02 -1.00744669e-01 -1.75475715e+01] [ 9.84146369e-03 9.99886088e-01 -1.14436423e-02 -8.18962559e-02] [ 1.00858443e-01 1.03932566e-02 9.94846498e-01 4.31883995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.582557844 meters Centerline goodness : 0.205760 with order 3 Centerline is valid? [False, False] Translation: X:-17.55, Y:-0.08, Z:0.43 [[ 9.94915160e-01 -9.46408790e-03 -1.00270910e-01 -1.75500099e+01] [ 8.45582912e-03 9.99909376e-01 -1.04755971e-02 -7.50081995e-02] [ 1.00360965e-01 9.57445664e-03 9.94905024e-01 4.32971199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.642557844 meters Centerline goodness : 0.391302 with order 3 Centerline is valid? [False, False] Translation: X:-17.55, Y:-0.07, Z:0.43 [[ 9.94871812e-01 -1.00221487e-02 -1.00646082e-01 -1.75480325e+01] [ 8.90375229e-03 9.99893594e-01 -1.15552451e-02 -6.93494825e-02] [ 1.00751181e-01 1.05998598e-02 9.94855187e-01 4.31764573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.702557844 meters Centerline goodness : 0.160687 with order 1 Centerline is valid? [False, False] Translation: X:-17.55, Y:-0.07, Z:0.43 [[ 9.94875362e-01 -6.25809945e-03 -1.00915069e-01 -1.75468935e+01] [ 5.42413089e-03 9.99948854e-01 -8.53633844e-03 -6.54111694e-02] [ 1.00963329e-01 7.94521625e-03 9.94858422e-01 4.31189407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.762557844 meters Centerline goodness : 0.141399 with order 1 Centerline is valid? [False, False] Translation: X:-17.55, Y:-0.05, Z:0.43 [[ 9.94878595e-01 -1.59570370e-03 -1.01064507e-01 -1.75461966e+01] [ 1.02354644e-03 9.99983157e-01 -5.71290946e-03 -5.21479462e-02] [ 1.01071921e-01 5.58020712e-03 9.94863472e-01 4.30965439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.822557844 meters Centerline goodness : 0.152843 with order 1 Centerline is valid? [False, False] Translation: X:-17.55, Y:-0.04, Z:0.43 [[ 9.94891341e-01 1.35588599e-03 -1.00942462e-01 -1.75473508e+01] [-1.78130600e-03 9.99989908e-01 -4.12446460e-03 -4.27545033e-02] [ 1.00935851e-01 4.28320353e-03 9.94883716e-01 4.31805552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.882557844 meters Centerline goodness : 0.160166 with order 1 Centerline is valid? [False, False] Translation: X:-17.55, Y:-0.03, Z:0.43 [[ 9.94865764e-01 4.39950145e-03 -1.01107647e-01 -1.75458385e+01] [-4.68165037e-03 9.99985781e-01 -2.55346441e-03 -2.90760891e-02] [ 1.01094975e-01 3.01370497e-03 9.94872215e-01 4.30856930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.942557844 meters Centerline goodness : 0.161225 with order 1 Centerline is valid? [False, False] Translation: X:-17.56, Y:-0.01, Z:0.43 [[ 9.94836103e-01 -3.72967593e-03 -1.01425924e-01 -1.75644149e+01] [ 3.51228808e-03 9.99991136e-01 -2.32181153e-03 -1.42998536e-02] [ 1.01433684e-01 1.95358487e-03 9.94840385e-01 4.27616936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.002557844 meters Centerline goodness : 0.158263 with order 1 Centerline is valid? [False, False] Translation: X:-17.56, Y:-0.01, Z:0.43 [[ 9.94819403e-01 -4.64607421e-03 -1.01551804e-01 -1.75641992e+01] [ 4.27946795e-03 9.99983518e-01 -3.82760194e-03 -6.34365554e-03] [ 1.01567914e-01 3.37318499e-03 9.94822889e-01 4.27842962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.062557844 meters Centerline goodness : 0.130660 with order 3 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.01, Z:0.42 [[ 9.95166573e-01 -8.95955944e-03 -9.77917078e-02 -1.75844965e+01] [ 8.73818937e-03 9.99958198e-01 -2.69175119e-03 1.34701952e-02] [ 9.78117368e-02 1.82421834e-03 9.95203264e-01 4.24749272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.122557844 meters Centerline goodness : 0.130525 with order 3 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.03, Z:0.42 [[ 9.95166436e-01 -9.08673162e-03 -9.77813722e-02 -1.75844534e+01] [ 8.72683713e-03 9.99953484e-01 -4.10766918e-03 2.93287739e-02] [ 9.78141490e-02 3.23449238e-03 9.95199442e-01 4.24692482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.18255784400003 meters Centerline goodness : 0.130439 with order 3 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.04, Z:0.42 [[ 9.95177697e-01 -9.64238122e-03 -9.76133997e-02 -1.75846810e+01] [ 9.18354108e-03 9.99944575e-01 -5.14879639e-03 3.51605465e-02] [ 9.76576361e-02 4.22753066e-03 9.95211090e-01 4.24514636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24255784400003 meters Centerline goodness : 0.128434 with order 3 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.04, Z:0.43 [[ 9.95248739e-01 -1.03502579e-02 -9.68133227e-02 -1.75871685e+01] [ 9.78733686e-03 9.99932335e-01 -6.28759419e-03 4.02166789e-02] [ 9.68718501e-02 5.31017559e-03 9.95282697e-01 4.25172681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30255784400003 meters Centerline goodness : 0.142916 with order 1 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.05, Z:0.42 [[ 9.95318993e-01 -7.06640749e-03 -9.63855214e-02 -1.75881159e+01] [ 6.70393679e-03 9.99969189e-01 -4.08395526e-03 4.83928553e-02] [ 9.64114105e-02 3.41867579e-03 9.95335698e-01 4.24999832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.362557844 meters Centerline goodness : 0.229120 with order 3 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.06, Z:0.42 [[ 9.95269092e-01 -2.83285826e-03 -9.71154439e-02 -1.75858116e+01] [ 2.66042726e-03 9.99994647e-01 -1.90497069e-03 6.40525741e-02] [ 9.71203205e-02 1.63758988e-03 9.95271301e-01 4.24623045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.422557844 meters Centerline goodness : 0.121490 with order 3 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.07, Z:0.43 [[ 9.95291142e-01 7.07079433e-04 -9.69280318e-02 -1.75867981e+01] [-6.85277951e-04 9.99999732e-01 2.58213947e-04 7.44343140e-02] [ 9.69281884e-02 -1.90575411e-04 9.95291359e-01 4.25310968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.482557844 meters Centerline goodness : 0.124544 with order 3 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.09, Z:0.43 [[ 9.95346035e-01 3.01900893e-03 -9.63180003e-02 -1.75896522e+01] [-2.95734132e-03 9.99995321e-01 7.82998446e-04 9.06188011e-02] [ 9.63199134e-02 -4.94509196e-04 9.95350305e-01 4.26843983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.542557844 meters Centerline goodness : 0.151785 with order 1 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.10, Z:0.43 [[ 9.95241983e-01 3.24214263e-03 -9.73801045e-02 -1.75860876e+01] [-3.23494064e-03 9.99994741e-01 2.31842451e-04 1.00654442e-01] [ 9.73803440e-02 8.42795169e-05 9.95247236e-01 4.25959995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.602557844 meters Centerline goodness : 0.152028 with order 1 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.11, Z:0.42 [[ 9.95195298e-01 2.79145611e-03 -9.78699464e-02 -1.75837990e+01] [-2.86311483e-03 9.99995726e-01 -5.91746836e-04 1.05285138e-01] [ 9.78678763e-02 8.69116563e-04 9.95199037e-01 4.24778834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.662557844 meters Centerline goodness : 0.141737 with order 1 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.11, Z:0.42 [[ 9.95224571e-01 1.50781816e-03 -9.76000984e-02 -1.75843756e+01] [-1.70186302e-03 9.99996737e-01 -1.90494337e-03 1.09175924e-01] [ 9.75969076e-02 2.06194844e-03 9.95223890e-01 4.24566714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.722557844 meters Centerline goodness : 0.241526 with order 3 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.11, Z:0.42 [[ 9.95226116e-01 1.19298094e-03 -9.75887057e-02 -1.75841468e+01] [-1.42325288e-03 9.99996365e-01 -2.29003780e-03 1.11030660e-01] [ 9.75856190e-02 2.41799883e-03 9.95224196e-01 4.24299683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.782557844 meters Centerline goodness : 0.187757 with order 3 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.12, Z:0.42 [[ 9.95048665e-01 -1.00332695e-03 -9.93838375e-02 -1.75765555e+01] [ 5.49453305e-04 9.99989296e-01 -4.59414173e-03 1.16209784e-01] [ 9.93873831e-02 4.51678782e-03 9.95038565e-01 4.21165344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.842557844 meters Centerline goodness : 0.146386 with order 1 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.12, Z:0.42 [[ 9.95042275e-01 -1.09259779e-03 -9.94468520e-02 -1.75760708e+01] [ 6.22996272e-04 9.99988510e-01 -4.75306760e-03 1.16940525e-01] [ 9.94509025e-02 4.66754818e-03 9.95031523e-01 4.20737816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.902557844 meters Centerline goodness : 0.123743 with order 3 Centerline is valid? [False, False] Translation: X:-17.56, Y:0.12, Z:0.42 [[ 9.95389135e-01 -9.48675922e-03 -9.54487899e-02 -1.75579610e+01] [ 9.17735424e-03 9.99951115e-01 -3.68005467e-03 1.17808671e-01] [ 9.54790357e-02 2.78711908e-03 9.95427539e-01 4.23205428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.962557844 meters Centerline goodness : 0.134105 with order 1 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.11, Z:0.42 [[ 9.95562590e-01 -2.82757003e-03 -9.40592106e-02 -1.75833547e+01] [ 2.27694358e-03 9.99979642e-01 -5.96084759e-03 1.14444859e-01] [ 9.40741504e-02 5.72022935e-03 9.95548760e-01 4.21354674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.022557844 meters Centerline goodness : 0.147065 with order 1 Centerline is valid? [False, False] Translation: X:-17.58, Y:0.11, Z:0.42 [[ 9.95521389e-01 -2.60278744e-03 -9.45007423e-02 -1.75813260e+01] [ 2.10239788e-03 9.99983241e-01 -5.39426196e-03 1.11985471e-01] [ 9.45131987e-02 5.17142500e-03 9.95510177e-01 4.20057721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.082557844 meters Centerline goodness : 0.157747 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.12, Z:0.42 [[ 9.95322533e-01 -9.41546046e-04 -9.66031534e-02 -1.76284590e+01] [ 4.27804679e-04 9.99985658e-01 -5.33863427e-03 1.16126189e-01] [ 9.66067945e-02 5.27233570e-03 9.95308661e-01 4.17836707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.142557844 meters Centerline goodness : 0.228017 with order 3 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.11, Z:0.42 [[ 9.95525296e-01 8.36864560e-03 -9.41241243e-02 -1.76084229e+01] [-8.88531260e-03 9.99947664e-01 -5.07145047e-03 1.14360689e-01] [ 9.40767571e-02 5.88507949e-03 9.95547553e-01 4.19764572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.202557844 meters Centerline goodness : 0.135930 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.12, Z:0.42 [[ 9.95520162e-01 8.35097530e-03 -9.41799763e-02 -1.76081999e+01] [-8.88857488e-03 9.99946502e-01 -5.29015811e-03 1.15697693e-01] [ 9.41307599e-02 6.10358483e-03 9.95541132e-01 4.19654094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.262557844 meters Centerline goodness : 0.135847 with order 2 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.11, Z:0.42 [[ 9.95529037e-01 8.38612945e-03 -9.40829954e-02 -1.76082921e+01] [-8.90203011e-03 9.99947548e-01 -5.06510111e-03 1.14184960e-01] [ 9.40355840e-02 5.87998489e-03 9.95551473e-01 4.19312750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.322557844 meters Centerline goodness : 0.158438 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.11, Z:0.42 [[ 9.95589005e-01 8.16924081e-03 -9.34654837e-02 -1.76102926e+01] [-8.67474893e-03 9.99949856e-01 -5.00348859e-03 1.12651016e-01] [ 9.34199223e-02 5.79220783e-03 9.95609948e-01 4.19760743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.382557844 meters Centerline goodness : 0.144082 with order 2 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.11, Z:0.42 [[ 9.95555382e-01 8.25771118e-03 -9.38151977e-02 -1.76093170e+01] [-8.73637178e-03 9.99950826e-01 -4.69259606e-03 1.11112041e-01] [ 9.37718343e-02 5.49134371e-03 9.95578570e-01 4.19584225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.442557844 meters Centerline goodness : 0.118992 with order 3 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.11, Z:0.42 [[ 9.95525247e-01 8.31085034e-03 -9.41297684e-02 -1.76078684e+01] [-8.78337885e-03 9.99950814e-01 -4.60676618e-03 1.10781987e-01] [ 9.40868524e-02 5.41292945e-03 9.95549278e-01 4.18664927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.502557844 meters Centerline goodness : 0.149254 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.12, Z:0.42 [[ 9.95635953e-01 3.75776169e-03 -9.32465971e-02 -1.76305196e+01] [-3.90887998e-03 9.99991326e-01 -1.43804016e-03 1.16261514e-01] [ 9.32403845e-02 1.79625424e-03 9.95642006e-01 4.17108524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.562557844 meters Centerline goodness : 0.138178 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.12, Z:0.42 [[ 9.95593862e-01 4.00199759e-03 -9.36848208e-02 -1.76295212e+01] [-4.18292756e-03 9.99989746e-01 -1.73497099e-03 1.19049276e-01] [ 9.36769169e-02 2.11920329e-03 9.95600394e-01 4.17419296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.622557844 meters Centerline goodness : 0.133927 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.13, Z:0.42 [[ 9.95606740e-01 7.94292186e-03 -9.32959268e-02 -1.76302796e+01] [-7.89432777e-03 9.99968443e-01 8.89913217e-04 1.26187260e-01] [ 9.33000513e-02 -1.49494970e-04 9.95638026e-01 4.17360941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.68255784400003 meters Centerline goodness : 0.138518 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.13, Z:0.42 [[ 9.95611705e-01 1.17307633e-02 -9.28424569e-02 -1.76319200e+01] [-1.14456965e-02 9.99928007e-01 3.60233270e-03 1.31996588e-01] [ 9.28780310e-02 -2.52387802e-03 9.95674295e-01 4.18168443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74255784400003 meters Centerline goodness : 0.144046 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.14, Z:0.42 [[ 9.95624396e-01 1.37324707e-02 -9.24309560e-02 -1.76333740e+01] [-1.33990643e-02 9.99901295e-01 4.22672147e-03 1.41575188e-01] [ 9.24798759e-02 -2.96973868e-03 9.95710125e-01 4.18878333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.802557844 meters Centerline goodness : 0.137006 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.15, Z:0.42 [[ 9.95605793e-01 1.38734674e-02 -9.26101095e-02 -1.76329591e+01] [-1.35852914e-02 9.99900716e-01 3.74143956e-03 1.46146422e-01] [ 9.26528215e-02 -2.46686357e-03 9.95695420e-01 4.19031423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.862557844 meters Centerline goodness : 0.229304 with order 3 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.15, Z:0.42 [[ 9.95579245e-01 1.37755722e-02 -9.29096355e-02 -1.76323947e+01] [-1.35634507e-02 9.99903766e-01 2.91419163e-03 1.51760506e-01] [ 9.29408391e-02 -1.64113344e-03 9.95670280e-01 4.19485069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.922557844 meters Centerline goodness : 0.135642 with order 1 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.16, Z:0.42 [[ 9.95666855e-01 1.36921576e-02 -9.19784730e-02 -1.76349707e+01] [-1.35776737e-02 9.99906070e-01 1.87034891e-03 1.55989944e-01] [ 9.19954425e-02 -6.13390725e-04 9.95759239e-01 4.19188495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.982557844 meters Centerline goodness : 0.139120 with order 1 Centerline is valid? [False, False] Translation: X:-17.66, Y:0.17, Z:0.42 [[ 9.96060894e-01 9.39119739e-03 -8.81731312e-02 -1.76567776e+01] [-9.13623931e-03 9.99952836e-01 3.29469728e-03 1.71950857e-01] [ 8.81999138e-02 -2.47614829e-03 9.96099716e-01 4.15844750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.042557844 meters Centerline goodness : 0.119899 with order 1 Centerline is valid? [False, False] Translation: X:-17.65, Y:0.18, Z:0.41 [[ 9.95902902e-01 8.92864023e-03 -8.99871640e-02 -1.76513176e+01] [-8.74288242e-03 9.99958759e-01 2.45823975e-03 1.75348299e-01] [ 9.00054015e-02 -1.66142091e-03 9.95939891e-01 4.14542210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.102557844 meters Centerline goodness : 0.145745 with order 1 Centerline is valid? [False, False] Translation: X:-17.65, Y:0.18, Z:0.41 [[ 9.95870263e-01 8.74839211e-03 -9.03652910e-02 -1.76505802e+01] [-8.62238939e-03 9.99961234e-01 1.78466511e-03 1.78913256e-01] [ 9.03774009e-02 -9.98130184e-04 9.95907089e-01 4.14705895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.162557844 meters Centerline goodness : 0.140614 with order 1 Centerline is valid? [False, False] Translation: X:-17.67, Y:0.19, Z:0.41 [[ 9.95837064e-01 -1.81919121e-04 -9.11510178e-02 -1.76679608e+01] [ 3.64613922e-04 9.99997958e-01 1.98766084e-03 1.90173324e-01] [ 9.11504701e-02 -2.01262126e-03 9.95835097e-01 4.11899379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.222557844 meters Centerline goodness : 0.274920 with order 3 Centerline is valid? [False, False] Translation: X:-17.66, Y:0.20, Z:0.41 [[ 9.95751641e-01 2.30225927e-03 -9.20508996e-02 -1.76636243e+01] [-1.96948784e-03 9.99991194e-01 3.70575678e-03 1.95825214e-01] [ 9.20586207e-02 -3.50872027e-03 9.95747407e-01 4.09914534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.282557844 meters Centerline goodness : 0.123337 with order 3 Centerline is valid? [False, False] Translation: X:-17.64, Y:0.20, Z:0.41 [[ 9.95755740e-01 1.01305604e-02 -9.14761014e-02 -1.76429249e+01] [-9.94374989e-03 9.99947440e-01 2.49772227e-03 1.95395872e-01] [ 9.14965968e-02 -1.57750582e-03 9.95804140e-01 4.12889235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.342557844 meters Centerline goodness : 0.147120 with order 1 Centerline is valid? [False, False] Translation: X:-17.66, Y:0.21, Z:0.41 [[ 9.96110063e-01 5.20278655e-03 -8.79640510e-02 -1.76605558e+01] [-4.86551274e-03 9.99979969e-01 4.04820065e-03 2.05414827e-01] [ 8.79833510e-02 -3.60446319e-03 9.96115424e-01 4.08635541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.402557844 meters Centerline goodness : 0.145951 with order 3 Centerline is valid? [False, False] Translation: X:-17.62, Y:0.21, Z:0.41 [[ 9.96401624e-01 5.26827956e-03 -8.45934335e-02 -1.76228365e+01] [-4.90415875e-03 9.99977797e-01 4.51158949e-03 2.07274196e-01] [ 8.46153236e-02 -4.08049547e-03 9.96405337e-01 4.13476224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.462557844 meters Centerline goodness : 0.150153 with order 1 Centerline is valid? [False, False] Translation: X:-17.62, Y:0.21, Z:0.41 [[ 9.96417176e-01 5.24961287e-03 -8.44112088e-02 -1.76238950e+01] [-4.92643645e-03 9.99979718e-01 4.03643670e-03 2.09628495e-01] [ 8.44306866e-02 -3.60612840e-03 9.96422829e-01 4.14222812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.522557844 meters SLAMing on 461.582557844 meters Centerline goodness : 0.257873 with order 3 Centerline is valid? [False, False] Translation: X:-17.60, Y:0.20, Z:0.42 [[ 9.96101626e-01 1.31218368e-02 -8.72316976e-02 -1.76003014e+01] [-1.27990646e-02 9.99909021e-01 4.25847404e-03 1.98598330e-01] [ 8.72796403e-02 -3.12538878e-03 9.96178948e-01 4.16112105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.642557844 meters Centerline goodness : 0.125912 with order 3 Centerline is valid? [False, False] Translation: X:-17.60, Y:0.20, Z:0.41 [[ 9.96153596e-01 1.34468696e-02 -8.65863457e-02 -1.76016513e+01] [-1.31343971e-02 9.99905013e-01 4.17751161e-03 1.98276961e-01] [ 8.66342956e-02 -3.02418376e-03 9.96235591e-01 4.14884897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.702557844 meters SLAMing on 461.762557844 meters Centerline goodness : 0.146653 with order 1 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.20, Z:0.41 [[ 9.96248225e-01 1.46075524e-02 -8.53000256e-02 -1.76055229e+01] [-1.43463668e-02 9.99890335e-01 3.67418349e-03 2.01099408e-01] [ 8.53443420e-02 -2.43665332e-03 9.96348536e-01 4.13463069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.822557844 meters Centerline goodness : 0.149305 with order 1 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.21, Z:0.42 [[ 9.96143219e-01 7.38068262e-03 -8.74311926e-02 -1.75877102e+01] [-7.01597500e-03 9.99965362e-01 4.47793325e-03 2.05910489e-01] [ 8.74612143e-02 -3.84724778e-03 9.96160496e-01 4.16802344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.882557844 meters Centerline goodness : 0.146615 with order 3 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.20, Z:0.42 [[ 9.96146757e-01 7.47426497e-03 -8.73829139e-02 -1.75881780e+01] [-7.09736377e-03 9.99964126e-01 4.62311129e-03 2.04814362e-01] [ 8.74143335e-02 -3.98510899e-03 9.96164069e-01 4.17230093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.942557844 meters Centerline goodness : 0.126856 with order 3 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.20, Z:0.42 [[ 9.96129191e-01 7.59296955e-03 -8.75727194e-02 -1.75876960e+01] [-7.19894581e-03 9.99962498e-01 4.81433871e-03 2.02458747e-01] [ 8.76059904e-02 -4.16527207e-03 9.96146496e-01 4.17255676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.002557844 meters Centerline goodness : 0.230032 with order 3 Centerline is valid? [False, False] Translation: X:-17.59, Y:0.20, Z:0.42 [[ 9.96078877e-01 7.86031727e-03 -8.81197247e-02 -1.75856968e+01] [-7.44312612e-03 9.99959487e-01 5.06195540e-03 1.99952727e-01] [ 8.81559433e-02 -4.38622063e-03 9.96097029e-01 4.16650395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.062557844 meters SLAMing on 462.122557844 meters Centerline goodness : 0.141969 with order 3 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.19, Z:0.41 [[ 9.95989741e-01 1.74074183e-02 -8.77577222e-02 -1.76063805e+01] [-1.71898730e-02 9.99847013e-01 3.23410882e-03 1.90807323e-01] [ 8.78005939e-02 -1.71259511e-03 9.96136598e-01 4.14756430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.18255784400003 meters Centerline goodness : 0.192244 with order 3 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.19, Z:0.41 [[ 9.95954575e-01 1.76543659e-02 -8.81067972e-02 -1.76055883e+01] [-1.74750136e-02 9.99843361e-01 2.80660320e-03 1.93283415e-01] [ 8.81425450e-02 -1.25558182e-03 9.96107080e-01 4.14192004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24255784400003 meters Centerline goodness : 0.120777 with order 3 Centerline is valid? [False, False] Translation: X:-17.61, Y:0.20, Z:0.41 [[ 9.95941906e-01 1.79955050e-02 -8.81809608e-02 -1.76059705e+01] [-1.78629190e-02 9.99837817e-01 2.29252238e-03 1.96647945e-01] [ 8.82079144e-02 -7.08049744e-04 9.96101833e-01 4.14112486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.302557844 meters Centerline goodness : 0.145981 with order 3 Centerline is valid? [False, False] Translation: X:-17.63, Y:0.21, Z:0.41 [[ 9.96040861e-01 1.02278765e-02 -8.83062497e-02 -1.76260217e+01] [-1.00733327e-02 9.99946852e-01 2.19556345e-03 2.05011246e-01] [ 8.83240124e-02 -1.29733268e-03 9.96090953e-01 4.11809176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.362557844 meters Centerline goodness : 0.150848 with order 1 Centerline is valid? [False, False] Translation: X:-17.67, Y:0.20, Z:0.41 [[ 9.95742190e-01 1.04301100e-02 -9.15898708e-02 -1.76691401e+01] [-1.03575069e-02 9.99945556e-01 1.26799629e-03 2.03593917e-01] [ 9.15981096e-02 -3.13954691e-04 9.95796007e-01 4.09233501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.422557844 meters Centerline goodness : 0.140247 with order 2 Centerline is valid? [False, False] Translation: X:-17.67, Y:0.20, Z:0.41 [[ 9.95739826e-01 6.78762041e-03 -9.19572062e-02 -1.76685411e+01] [-6.99408652e-03 9.99973692e-01 -1.92316246e-03 2.01778754e-01] [ 9.19417332e-02 2.55812611e-03 9.95761103e-01 4.09507971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.482557844 meters Centerline goodness : 0.146183 with order 3 Centerline is valid? [False, False] Translation: X:-17.67, Y:0.20, Z:0.41 [[ 9.95757301e-01 2.90429505e-03 -9.19726191e-02 -1.76689161e+01] [-3.35678820e-03 9.99983011e-01 -4.76555581e-03 1.95741075e-01] [ 9.19572159e-02 5.05406959e-03 9.95750133e-01 4.09995651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.542557844 meters Centerline goodness : 0.112089 with order 3 Centerline is valid? [False, False] Translation: X:-17.67, Y:0.19, Z:0.41 [[ 9.95774272e-01 3.26158141e-03 -9.17766926e-02 -1.76696792e+01] [-3.62677409e-03 9.99986155e-01 -3.81264640e-03 1.90342181e-01] [ 9.17629867e-02 4.12938852e-03 9.95772315e-01 4.10443517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.602557844 meters SLAMing on 462.662557844 meters Centerline goodness : 0.207681 with order 3 Centerline is valid? [False, False] Translation: X:-17.67, Y:0.18, Z:0.41 [[ 9.95817367e-01 4.83729264e-03 -9.12380023e-02 -1.76706449e+01] [-5.07833735e-03 9.99984201e-01 -2.40996417e-03 1.79936161e-01] [ 9.12249031e-02 2.86322153e-03 9.95826199e-01 4.10100161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.722557844 meters SLAMing on 462.782557844 meters Centerline goodness : 0.235232 with order 3 Centerline is valid? [False, False] Translation: X:-17.69, Y:0.17, Z:0.41 [[ 9.95823476e-01 1.18599423e-02 -9.05259462e-02 -1.76909678e+01] [-1.23559322e-02 9.99911556e-01 -4.92051192e-03 1.67904628e-01] [ 9.04595828e-02 6.01849374e-03 9.95881942e-01 4.07326676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.842557844 meters Centerline goodness : 0.214874 with order 3 Centerline is valid? [False, False] Translation: X:-17.73, Y:0.16, Z:0.40 [[ 9.95512164e-01 1.13699922e-02 -9.39481448e-02 -1.77332132e+01] [-1.19728728e-02 9.99911175e-01 -5.85597875e-03 1.62760819e-01] [ 9.38732174e-02 6.95452727e-03 9.95559869e-01 4.03608436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.902557844 meters Centerline goodness : 0.087020 with order 1 Centerline is valid? [False, False] Translation: X:-17.73, Y:0.16, Z:0.40 [[ 9.95462104e-01 1.16838631e-02 -9.44387987e-02 -1.77317638e+01] [-1.22297400e-02 9.99911675e-01 -5.20349282e-03 1.59283333e-01] [ 9.43696604e-02 6.33484187e-03 9.95517070e-01 4.03382103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.962557844 meters Centerline goodness : 0.095138 with order 1 Centerline is valid? [False, False] Translation: X:-17.73, Y:0.16, Z:0.40 [[ 9.95500586e-01 1.19952808e-02 -9.39930677e-02 -1.77330975e+01] [-1.24879070e-02 9.99911189e-01 -4.65463393e-03 1.56456666e-01] [ 9.39288865e-02 5.80746750e-03 9.95561971e-01 4.03618887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.022557844 meters Centerline goodness : 0.091807 with order 1 Centerline is valid? [False, False] Translation: X:-17.73, Y:0.16, Z:0.40 [[ 9.95542006e-01 1.21311053e-02 -9.35358216e-02 -1.77347632e+01] [-1.26122563e-02 9.99910089e-01 -4.55457963e-03 1.55942791e-01] [ 9.34721596e-02 5.71397309e-03 9.95605497e-01 4.04092456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.082557844 meters Centerline goodness : 0.097535 with order 1 Centerline is valid? [False, False] Translation: X:-17.78, Y:0.15, Z:0.40 [[ 9.95163282e-01 1.41646641e-02 -9.72080523e-02 -1.77765757e+01] [-1.45979997e-02 9.99886419e-01 -3.74802340e-03 1.52684882e-01] [ 9.71439218e-02 5.14893839e-03 9.95257026e-01 4.00154355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.142557844 meters Centerline goodness : 0.093351 with order 3 Centerline is valid? [False, False] Translation: X:-17.78, Y:0.15, Z:0.40 [[ 9.95159487e-01 1.42464264e-02 -9.72349465e-02 -1.77765145e+01] [-1.46586992e-02 9.99886335e-01 -3.52688527e-03 1.51204284e-01] [ 9.71736488e-02 4.93515117e-03 9.95255207e-01 4.00098195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.202557844 meters SLAMing on 463.262557844 meters Centerline goodness : 0.233593 with order 3 Centerline is valid? [False, False] Translation: X:-17.81, Y:0.14, Z:0.40 [[ 9.95433112e-01 4.45633964e-03 -9.53575387e-02 -1.78050092e+01] [-4.86369694e-03 9.99980012e-01 -4.03989465e-03 1.43083618e-01] [ 9.53376296e-02 4.48523508e-03 9.95434889e-01 3.99705516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.322557844 meters Centerline goodness : 0.232365 with order 3 Centerline is valid? [False, False] Translation: X:-17.80, Y:0.14, Z:0.40 [[ 9.95394136e-01 4.77251162e-03 -9.57482978e-02 -1.78031698e+01] [-5.14076793e-03 9.99980307e-01 -3.59977803e-03 1.41394082e-01] [ 9.57292323e-02 4.07541772e-03 9.95399068e-01 3.98597180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.382557844 meters Centerline goodness : 0.097077 with order 1 Centerline is valid? [False, False] Translation: X:-17.80, Y:0.14, Z:0.40 [[ 9.95413592e-01 4.81347089e-03 -9.55437617e-02 -1.78037820e+01] [-5.20658191e-03 9.99978974e-01 -3.86558701e-03 1.42813467e-01] [ 9.55231460e-02 4.34531428e-03 9.95417725e-01 3.98562576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.442557844 meters Centerline goodness : 0.223632 with order 3 Centerline is valid? [False, False] Translation: X:-17.80, Y:0.15, Z:0.40 [[ 9.95445593e-01 5.54755048e-03 -9.51698323e-02 -1.78046282e+01] [-5.94514544e-03 9.99974743e-01 -3.89470542e-03 1.46161699e-01] [ 9.51458225e-02 4.44276584e-03 9.95453432e-01 3.98184150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.502557844 meters Centerline goodness : 0.140034 with order 1 Centerline is valid? [False, False] Translation: X:-17.82, Y:0.15, Z:0.39 [[ 9.95408138e-01 -1.51810195e-03 -9.57096368e-02 -1.78225261e+01] [ 1.24655142e-03 9.99995027e-01 -2.89695985e-03 1.53719000e-01] [ 9.57135587e-02 2.76435042e-03 9.95405080e-01 3.94030461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.562557844 meters Centerline goodness : 0.233399 with order 3 Centerline is valid? [False, False] Translation: X:-17.82, Y:0.16, Z:0.39 [[ 9.95386785e-01 -1.82482549e-03 -9.59261078e-02 -1.78222589e+01] [ 1.48087683e-03 9.99992218e-01 -3.65662776e-03 1.57827661e-01] [ 9.59320340e-02 3.49770420e-03 9.95381741e-01 3.94227566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.622557844 meters Centerline goodness : 0.216647 with order 3 Centerline is valid? [False, False] Translation: X:-17.82, Y:0.16, Z:0.39 [[ 9.95410514e-01 -2.08343136e-03 -9.56742832e-02 -1.78234106e+01] [ 1.73023852e-03 9.99991380e-01 -3.77442899e-03 1.57846586e-01] [ 9.56813222e-02 3.59156697e-03 9.95405538e-01 3.94882428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.68255784400003 meters Centerline goodness : 0.087612 with order 1 Centerline is valid? [False, False] Translation: X:-17.87, Y:0.15, Z:0.39 [[ 9.95158726e-01 -2.39874889e-03 -9.82514944e-02 -1.78685928e+01] [ 1.96076540e-03 9.99987708e-01 -4.55409464e-03 1.54904589e-01] [ 9.82612108e-02 4.33939889e-03 9.95151197e-01 3.91945771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74255784400003 meters Centerline goodness : 0.099913 with order 1 Centerline is valid? [False, False] Translation: X:-17.87, Y:0.15, Z:0.39 [[ 9.95113305e-01 -6.59925384e-03 -9.85188349e-02 -1.78671506e+01] [ 5.83034146e-03 9.99950274e-01 -8.09058823e-03 1.53030578e-01] [ 9.85673277e-02 7.47665354e-03 9.95102297e-01 3.91148880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.802557844 meters Centerline goodness : 0.169823 with order 3 Centerline is valid? [False, False] Translation: X:-17.89, Y:0.15, Z:0.39 [[ 9.95127663e-01 -1.62057060e-04 -9.85946647e-02 -1.78905785e+01] [-8.47320638e-04 9.99947664e-01 -1.01956915e-02 1.46885981e-01] [ 9.85911569e-02 1.02295559e-02 9.95075444e-01 3.90480959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.862557844 meters Centerline goodness : 0.092932 with order 1 Centerline is valid? [False, False] Translation: X:-17.89, Y:0.14, Z:0.39 [[ 9.95123670e-01 1.19531252e-05 -9.86350956e-02 -1.78906593e+01] [-9.73606200e-04 9.99952466e-01 -9.70147605e-03 1.44329486e-01] [ 9.86302910e-02 9.75020019e-03 9.95076379e-01 3.90793778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.922557844 meters Centerline goodness : 0.243286 with order 3 Centerline is valid? [False, False] Translation: X:-17.89, Y:0.14, Z:0.39 [[ 9.95118575e-01 3.39079444e-04 -9.86859028e-02 -1.78904363e+01] [-1.27977224e-03 9.99954349e-01 -9.46904407e-03 1.43770206e-01] [ 9.86781869e-02 9.54911711e-03 9.95073580e-01 3.90644465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.982557844 meters Centerline goodness : 0.229813 with order 3 Centerline is valid? [False, False] Translation: X:-17.89, Y:0.15, Z:0.39 [[ 9.95165090e-01 6.22884648e-04 -9.82143341e-02 -1.78917468e+01] [-1.58066027e-03 9.99951953e-01 -9.67438414e-03 1.45687626e-01] [ 9.82035891e-02 9.78285286e-03 9.95118260e-01 3.90605548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.042557844 meters Centerline goodness : 0.098422 with order 1 Centerline is valid? [False, False] Translation: X:-17.89, Y:0.15, Z:0.39 [[ 9.95192129e-01 9.44400250e-04 -9.79373977e-02 -1.78926023e+01] [-1.93279911e-03 9.99948153e-01 -9.99776590e-03 1.48709221e-01] [ 9.79228780e-02 1.01389912e-02 9.95142357e-01 3.90542220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.102557844 meters SLAMing on 464.162557844 meters Centerline goodness : 0.087110 with order 1 Centerline is valid? [False, False] Translation: X:-17.97, Y:0.15, Z:0.39 [[ 9.95102002e-01 1.09007020e-02 -9.82505961e-02 -1.79651717e+01] [-1.20488846e-02 9.99865793e-01 -1.11004934e-02 1.48395620e-01] [ 9.81164070e-02 1.22299333e-02 9.95099794e-01 3.86822871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.222557844 meters Centerline goodness : 0.225534 with order 3 Centerline is valid? [False, False] Translation: X:-17.95, Y:0.15, Z:0.39 [[ 9.95220229e-01 3.39717169e-03 -9.75969034e-02 -1.79479087e+01] [-4.33431664e-03 9.99946503e-01 -9.39179025e-03 1.54837681e-01] [ 9.75597767e-02 9.76991552e-03 9.95181711e-01 3.90429436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.282557844 meters Centerline goodness : 0.142246 with order 3 Centerline is valid? [False, False] Translation: X:-17.97, Y:0.16, Z:0.39 [[ 9.95303659e-01 -4.80801119e-03 -9.66825143e-02 -1.79702035e+01] [ 3.99414877e-03 9.99954959e-01 -8.60966170e-03 1.55890377e-01] [ 9.67195550e-02 8.18306345e-03 9.95278034e-01 3.87547362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.342557844 meters Centerline goodness : 0.097284 with order 1 Centerline is valid? [False, False] Translation: X:-17.97, Y:0.15, Z:0.39 [[ 9.95284960e-01 -4.78344916e-03 -9.68760399e-02 -1.79693074e+01] [ 4.01561179e-03 9.99958974e-01 -8.11939560e-03 1.52550315e-01] [ 9.69109042e-02 7.69209575e-03 9.95263336e-01 3.87113943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.402557844 meters SLAMing on 464.462557844 meters Centerline goodness : 0.220871 with order 3 Centerline is valid? [False, False] Translation: X:-17.97, Y:0.14, Z:0.39 [[ 9.95280482e-01 -9.00435815e-03 -9.66213371e-02 -1.79690461e+01] [ 8.02268445e-03 9.99912230e-01 -1.05437020e-02 1.37462218e-01] [ 9.67077958e-02 9.71877835e-03 9.95265365e-01 3.86641704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.522557844 meters Centerline goodness : 0.096335 with order 1 Centerline is valid? [False, False] Translation: X:-17.97, Y:0.13, Z:0.39 [[ 9.95260944e-01 -8.38364041e-03 -9.68781094e-02 -1.79677201e+01] [ 7.51780969e-03 9.99928504e-01 -9.29888760e-03 1.30933190e-01] [ 9.69491415e-02 8.52650846e-03 9.95252813e-01 3.85920415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.582557844 meters SLAMing on 464.642557844 meters Centerline goodness : 0.094300 with order 1 Centerline is valid? [False, False] Translation: X:-18.01, Y:0.11, Z:0.38 [[ 9.94924321e-01 -9.11939009e-03 -1.00211941e-01 -1.80076389e+01] [ 8.20887353e-03 9.99921231e-01 -9.49451575e-03 1.14736616e-01] [ 1.00290631e-01 8.62369748e-03 9.94920811e-01 3.81517272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.702557844 meters SLAMing on 464.762557844 meters SLAMing on 464.822557844 meters Centerline goodness : 0.229734 with order 3 Centerline is valid? [False, False] Translation: X:-18.12, Y:0.07, Z:0.37 [[ 9.95114900e-01 -2.47800275e-02 -9.55629956e-02 -1.81180588e+01] [ 2.37836933e-02 9.99650393e-01 -1.15510888e-02 6.89978596e-02] [ 9.58158224e-02 9.22181958e-03 9.95356361e-01 3.71290154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.882557844 meters Centerline goodness : 0.242346 with order 3 Centerline is valid? [False, False] Translation: X:-18.11, Y:0.05, Z:0.37 [[ 9.94973045e-01 -1.16358007e-02 -9.94648103e-02 -1.81135547e+01] [ 1.03664323e-02 9.99858221e-01 -1.32693196e-02 5.08768868e-02] [ 9.96051074e-02 1.21715201e-02 9.94952600e-01 3.70516612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.942557844 meters Centerline goodness : 0.249601 with order 3 Centerline is valid? [False, False] Translation: X:-18.11, Y:0.05, Z:0.37 [[ 9.95013419e-01 -1.10244861e-02 -9.91299985e-02 -1.81140702e+01] [ 9.83080986e-03 9.99873270e-01 -1.25219533e-02 4.75896968e-02] [ 9.92554839e-02 1.14849834e-02 9.94995701e-01 3.70030490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.002557844 meters Centerline goodness : 0.228330 with order 3 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.04, Z:0.37 [[ 9.95088118e-01 3.45510635e-04 -9.89925119e-02 -1.81365704e+01] [-1.44598326e-03 9.99937954e-01 -1.10451946e-02 4.04548493e-02] [ 9.89825536e-02 1.11340834e-02 9.95026877e-01 3.67647675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.062557844 meters Centerline goodness : 0.158648 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.04, Z:0.37 [[ 9.95076129e-01 1.24501772e-03 -9.91057391e-02 -1.81360376e+01] [-2.30094002e-03 9.99941796e-01 -1.05409156e-02 4.00483996e-02] [ 9.90868471e-02 1.07170499e-02 9.95021076e-01 3.67127706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.122557844 meters Centerline goodness : 0.254239 with order 3 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.04, Z:0.37 [[ 9.95081189e-01 1.91446973e-03 -9.90442394e-02 -1.81358639e+01] [-2.93230815e-03 9.99944370e-01 -1.01320528e-02 3.97737733e-02] [ 9.90193321e-02 1.03726434e-02 9.95031447e-01 3.66498980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.18255784400003 meters Centerline goodness : 0.159679 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.04, Z:0.37 [[ 9.95096064e-01 2.29165939e-03 -9.88866599e-02 -1.81360764e+01] [-3.23230998e-03 9.99951033e-01 -9.35325108e-03 3.56766189e-02] [ 9.88603832e-02 9.62701568e-03 9.95054745e-01 3.66220896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24255784400003 meters Centerline goodness : 0.160877 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.03, Z:0.37 [[ 9.95087564e-01 2.42479106e-03 -9.89689819e-02 -1.81355701e+01] [-3.27433632e-03 9.99959170e-01 -8.42242975e-03 2.99709773e-02] [ 9.89445184e-02 8.70511284e-03 9.95054875e-01 3.65990288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.302557844 meters Centerline goodness : 0.228085 with order 3 Centerline is valid? [False, False] Translation: X:-18.12, Y:0.03, Z:0.37 [[ 9.95165078e-01 -6.36522250e-03 -9.80099584e-02 -1.81160829e+01] [ 5.66703741e-03 9.99956559e-01 -7.40035278e-03 3.02283789e-02] [ 9.80528056e-02 6.80914655e-03 9.95157919e-01 3.68719665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.362557844 meters Centerline goodness : 0.218142 with order 3 Centerline is valid? [False, False] Translation: X:-18.12, Y:0.03, Z:0.37 [[ 9.95139305e-01 -1.04463105e-02 -9.79215953e-02 -1.81162306e+01] [ 9.43726825e-03 9.99897552e-01 -1.07621174e-02 2.70935553e-02] [ 9.80239879e-02 9.78569367e-03 9.95135939e-01 3.68737202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.422557844 meters Centerline goodness : 0.097946 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:0.03, Z:0.37 [[ 9.95151583e-01 -1.03470618e-02 -9.78072823e-02 -1.81167538e+01] [ 9.36286195e-03 9.99900867e-01 -1.05162842e-02 2.58102785e-02] [ 9.79063990e-02 9.54954081e-03 9.95149809e-01 3.69046010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.482557844 meters Centerline goodness : 0.154454 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:0.03, Z:0.37 [[ 9.95129414e-01 -1.02724940e-02 -9.80404240e-02 -1.81156075e+01] [ 9.30085399e-03 9.99903052e-01 -1.03625080e-02 2.52539099e-02] [ 9.81373680e-02 9.40017681e-03 9.95128481e-01 3.68327351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.542557844 meters Centerline goodness : 0.153404 with order 1 Centerline is valid? [False, False] Translation: X:-18.11, Y:0.02, Z:0.37 [[ 9.95077209e-01 -1.03874093e-02 -9.85568354e-02 -1.81138921e+01] [ 9.41393337e-03 9.99902255e-01 -1.03372178e-02 2.42584954e-02] [ 9.86545789e-02 9.35852238e-03 9.95077732e-01 3.67900067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.602557844 meters Centerline goodness : 0.162707 with order 1 Centerline is valid? [False, False] Translation: X:-18.16, Y:0.02, Z:0.37 [[ 9.94834484e-01 -1.15748903e-02 -1.00848254e-01 -1.81610765e+01] [ 1.05049776e-02 9.99882836e-01 -1.11337595e-02 1.85428372e-02] [ 1.00965310e-01 1.00168392e-02 9.94839519e-01 3.65467734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.662557844 meters Centerline goodness : 0.099374 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.02, Z:0.37 [[ 9.95130607e-01 -3.82707577e-03 -9.84907514e-02 -1.81434708e+01] [ 2.62174765e-03 9.99920120e-01 -1.23644984e-02 1.55488203e-02] [ 9.85302038e-02 1.20460729e-02 9.95061149e-01 3.68806300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.722557844 meters Centerline goodness : 0.226366 with order 3 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.02, Z:0.37 [[ 9.95145665e-01 -3.82430360e-03 -9.83386039e-02 -1.81435689e+01] [ 2.60498347e-03 9.99918171e-01 -1.25246099e-02 1.68815542e-02] [ 9.83784549e-02 1.22076408e-02 9.95074195e-01 3.68376476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.782557844 meters Centerline goodness : 0.156097 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.02, Z:0.37 [[ 9.95093942e-01 -8.99326534e-04 -9.89304669e-02 -1.81403774e+01] [-1.64224641e-04 9.99942291e-01 -1.07418232e-02 2.34758719e-02] [ 9.89344182e-02 1.07053700e-02 9.95036369e-01 3.66509704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.842557844 meters Centerline goodness : 0.098364 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.03, Z:0.37 [[ 9.95105099e-01 3.19985346e-03 -9.87704576e-02 -1.81414697e+01] [-3.94896263e-03 9.99964898e-01 -7.38977753e-03 2.65942368e-02] [ 9.87433443e-02 7.74364615e-03 9.95082805e-01 3.67206829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.902557844 meters Centerline goodness : 0.232746 with order 3 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.03, Z:0.37 [[ 9.95146933e-01 2.81997327e-03 -9.83596986e-02 -1.81428712e+01] [-3.61117723e-03 9.99962535e-01 -7.86688377e-03 2.81756770e-02] [ 9.83338292e-02 8.18389956e-03 9.95119833e-01 3.67632541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.962557844 meters Centerline goodness : 0.243679 with order 3 Centerline is valid? [False, False] Translation: X:-18.12, Y:0.03, Z:0.37 [[ 9.95142842e-01 -7.27315409e-03 -9.81724249e-02 -1.81219781e+01] [ 6.52526859e-03 9.99947211e-01 -7.93701315e-03 2.99135142e-02] [ 9.82249696e-02 7.25786038e-03 9.95137769e-01 3.70435803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.022557844 meters Centerline goodness : 0.121658 with order 2 Centerline is valid? [False, False] Translation: X:-18.12, Y:0.03, Z:0.37 [[ 9.95072548e-01 -7.56772930e-03 -9.88602723e-02 -1.81195920e+01] [ 6.85311777e-03 9.99947893e-01 -7.56608889e-03 2.61610804e-02] [ 9.89123791e-02 6.85130626e-03 9.95072561e-01 3.69837675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.082557844 meters Centerline goodness : 0.105560 with order 1 Centerline is valid? [False, False] Translation: X:-18.12, Y:0.02, Z:0.37 [[ 9.94988048e-01 -7.62784019e-03 -9.97025609e-02 -1.81168112e+01] [ 6.97674374e-03 9.99952012e-01 -6.87743128e-03 1.83388516e-02] [ 9.97502363e-02 6.14736271e-03 9.94993518e-01 3.69329501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.142557844 meters Centerline goodness : 0.150764 with order 1 Centerline is valid? [False, False] Translation: X:-18.13, Y:0.01, Z:0.37 [[ 9.94990794e-01 2.97677457e-05 -9.99665873e-02 -1.81342694e+01] [-8.17959753e-04 9.99968904e-01 -7.84357679e-03 7.55538330e-03] [ 9.99632453e-02 7.88605535e-03 9.94959878e-01 3.65355596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.202557844 meters Centerline goodness : 0.158609 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.00, Z:0.37 [[ 9.95034248e-01 4.96646955e-04 -9.95318955e-02 -1.81352828e+01] [-1.21539041e-03 9.99973623e-01 -7.16073195e-03 4.89563781e-03] [ 9.95257138e-02 7.24614365e-03 9.95008606e-01 3.65217821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.262557844 meters Centerline goodness : 0.150379 with order 3 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.00, Z:0.37 [[ 9.95126388e-01 1.36797494e-03 -9.85981782e-02 -1.81376973e+01] [-2.00886926e-03 9.99977495e-01 -6.40107832e-03 2.97334076e-03] [ 9.85872028e-02 6.56795280e-03 9.95106741e-01 3.65109691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.322557844 meters Centerline goodness : 0.222408 with order 3 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.00, Z:0.36 [[ 9.95112175e-01 1.40978152e-03 -9.87409296e-02 -1.81371065e+01] [-2.05911541e-03 9.99976920e-01 -6.47453727e-03 3.06997335e-03] [ 9.87295230e-02 6.64620984e-03 9.95092111e-01 3.64728427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.382557844 meters Centerline goodness : 0.145016 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.00, Z:0.37 [[ 9.95182930e-01 1.71477723e-03 -9.80203839e-02 -1.81394553e+01] [-2.34099023e-03 9.99977578e-01 -6.27394740e-03 3.17697048e-03] [ 9.80074277e-02 6.47319012e-03 9.95164631e-01 3.65230243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.442557844 meters Centerline goodness : 0.153906 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:0.00, Z:0.37 [[ 9.95213383e-01 1.79297992e-03 -9.77093045e-02 -1.81408629e+01] [-2.38254291e-03 9.99979653e-01 -5.91750351e-03 9.12421370e-04] [ 9.76967065e-02 6.12197530e-03 9.95197405e-01 3.66084257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.502557844 meters Centerline goodness : 0.151710 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:-0.00, Z:0.37 [[ 9.95190012e-01 -1.90097460e-03 -9.79450203e-02 -1.81407112e+01] [ 1.06285484e-03 9.99962381e-01 -8.60850883e-03 -4.39659408e-03] [ 9.79577002e-02 8.46300066e-03 9.95154594e-01 3.66616573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.562557844 meters Centerline goodness : 0.227946 with order 3 Centerline is valid? [False, False] Translation: X:-18.14, Y:-0.01, Z:0.37 [[ 9.95130175e-01 -5.66409845e-03 -9.84065658e-02 -1.81390088e+01] [ 4.56834195e-03 9.99925074e-01 -1.13567537e-02 -1.01376192e-02] [ 9.84635184e-02 1.08518935e-02 9.95081490e-01 3.66149747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.622557844 meters Centerline goodness : 0.142069 with order 1 Centerline is valid? [False, False] Translation: X:-18.16, Y:-0.02, Z:0.36 [[ 9.95111767e-01 -4.42636030e-04 -9.87541144e-02 -1.81614783e+01] [-9.79353503e-04 9.99896549e-01 -1.43503533e-02 -1.89858487e-02] [ 9.87502502e-02 1.43769206e-02 9.95008388e-01 3.64324068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.68255784400003 meters Centerline goodness : 0.098292 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:-0.02, Z:0.37 [[ 9.95353195e-01 -4.85197001e-03 -9.61689980e-02 -1.81403945e+01] [ 3.89807960e-03 9.99941352e-01 -1.01042903e-02 -2.01049779e-02] [ 9.62123836e-02 9.68246326e-03 9.95313733e-01 3.65421133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74255784400003 meters Centerline goodness : 0.095340 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:-0.02, Z:0.37 [[ 9.95375019e-01 -4.69980566e-03 -9.59504177e-02 -1.81406781e+01] [ 3.75529137e-03 9.99942727e-01 -1.00219810e-02 -2.03817291e-02] [ 9.59920237e-02 9.61530777e-03 9.95335661e-01 3.65002744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.802557844 meters Centerline goodness : 0.099482 with order 1 Centerline is valid? [False, False] Translation: X:-18.18, Y:-0.02, Z:0.36 [[ 9.95072692e-01 -1.72209694e-03 -9.91330996e-02 -1.81842789e+01] [ 9.52927250e-04 9.99969080e-01 -7.80578644e-03 -2.14416591e-02] [ 9.91434768e-02 7.67285830e-03 9.95043566e-01 3.61385280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.862557844 meters Centerline goodness : 0.150328 with order 1 Centerline is valid? [False, False] Translation: X:-18.19, Y:-0.02, Z:0.36 [[ 9.95124933e-01 -1.74408785e-03 -9.86069295e-02 -1.81859433e+01] [ 9.54092938e-04 9.99967077e-01 -8.05814325e-03 -1.97098433e-02] [ 9.86177372e-02 7.92477908e-03 9.95093835e-01 3.61652684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.922557844 meters Centerline goodness : 0.149894 with order 1 Centerline is valid? [False, False] Translation: X:-18.19, Y:-0.02, Z:0.36 [[ 9.95142769e-01 -1.80590407e-03 -9.84256476e-02 -1.81867007e+01] [ 1.00893616e-03 9.99966309e-01 -8.14632895e-03 -1.94298895e-02] [ 9.84370431e-02 8.00745515e-03 9.95111064e-01 3.61972464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.982557844 meters Centerline goodness : 0.085606 with order 1 Centerline is valid? [False, False] Translation: X:-18.19, Y:-0.02, Z:0.36 [[ 9.95094511e-01 -1.78090772e-03 -9.89128031e-02 -1.81851837e+01] [ 1.01400086e-03 9.99969041e-01 -7.80309401e-03 -2.14882880e-02] [ 9.89236375e-02 7.66451835e-03 9.95065510e-01 3.61695922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.042557844 meters Centerline goodness : 0.098078 with order 1 Centerline is valid? [False, False] Translation: X:-18.18, Y:-0.03, Z:0.36 [[ 9.95058769e-01 -5.73914787e-03 -9.91216817e-02 -1.81844182e+01] [ 4.67916724e-03 9.99929395e-01 -1.09229004e-02 -2.54180366e-02] [ 9.91773714e-02 1.04051209e-02 9.95015368e-01 3.61511814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.102557844 meters Centerline goodness : 0.223993 with order 3 Centerline is valid? [False, False] Translation: X:-18.18, Y:-0.03, Z:0.36 [[ 9.95029852e-01 -5.44585174e-03 -9.94280423e-02 -1.81837243e+01] [ 4.45700346e-03 9.99938404e-01 -1.01647863e-02 -2.95410496e-02] [ 9.94772739e-02 9.67111466e-03 9.94992835e-01 3.61731974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.162557844 meters Centerline goodness : 0.150848 with order 1 Centerline is valid? [False, False] Translation: X:-18.21, Y:-0.04, Z:0.36 [[ 9.95063464e-01 1.92365211e-04 -9.92404484e-02 -1.82062170e+01] [-1.45537370e-03 9.99918869e-01 -1.26545134e-02 -3.83181124e-02] [ 9.92299626e-02 1.27364759e-02 9.94983013e-01 3.59245544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.222557844 meters Centerline goodness : 0.143866 with order 1 Centerline is valid? [False, False] Translation: X:-18.21, Y:-0.04, Z:0.36 [[ 9.95037959e-01 4.52453625e-04 -9.94950028e-02 -1.82056328e+01] [-1.64857621e-03 9.99927356e-01 -1.19400485e-02 -4.47385696e-02] [ 9.94823727e-02 1.20448265e-02 9.94966421e-01 3.59279389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.282557844 meters Centerline goodness : 0.145879 with order 1 Centerline is valid? [False, False] Translation: X:-18.20, Y:-0.05, Z:0.36 [[ 9.95007563e-01 1.03826302e-03 -9.97941443e-02 -1.82044749e+01] [-2.17216554e-03 9.99934308e-01 -1.12544312e-02 -4.68616323e-02] [ 9.97759036e-02 1.14150135e-02 9.94944454e-01 3.58745106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.342557844 meters Centerline goodness : 0.146745 with order 1 Centerline is valid? [False, False] Translation: X:-18.21, Y:-0.05, Z:0.36 [[ 9.95025839e-01 1.10595835e-03 -9.96110308e-02 -1.82050251e+01] [-2.22646306e-03 9.99935488e-01 -1.11383374e-02 -4.76951209e-02] [ 9.95922862e-02 1.13047138e-02 9.94964110e-01 3.58765860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.402557844 meters Centerline goodness : 0.143877 with order 1 Centerline is valid? [False, False] Translation: X:-18.20, Y:-0.05, Z:0.36 [[ 9.94994108e-01 1.29328104e-03 -9.99252365e-02 -1.82036877e+01] [-2.37238578e-03 9.99940142e-01 -1.06810480e-02 -5.00627655e-02] [ 9.99054416e-02 1.08646410e-02 9.94937617e-01 3.58111877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.462557844 meters Centerline goodness : 0.150283 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-0.06, Z:0.35 [[ 9.94760794e-01 -3.00251314e-04 -1.02229508e-01 -1.82500750e+01] [-8.63758555e-04 9.99935307e-01 -1.13417844e-02 -5.56767964e-02] [ 1.02226299e-01 1.13706641e-02 9.94696181e-01 3.54908298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.522557844 meters Centerline goodness : 0.147813 with order 1 Centerline is valid? [False, False] Translation: X:-18.25, Y:-0.06, Z:0.36 [[ 9.94828918e-01 -6.58717524e-04 -1.01562744e-01 -1.82521522e+01] [-4.81939077e-04 9.99937093e-01 -1.12061074e-02 -5.83628472e-02] [ 1.01563737e-01 1.11971067e-02 9.94766019e-01 3.55454410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.582557844 meters Centerline goodness : 0.187239 with order 3 Centerline is valid? [False, False] Translation: X:-18.23, Y:-0.06, Z:0.36 [[ 9.94904002e-01 -8.18427135e-03 -1.00494000e-01 -1.82329854e+01] [ 7.26043445e-03 9.99927989e-01 -9.55526403e-03 -5.57922103e-02] [ 1.00564966e-01 8.77694033e-03 9.94891780e-01 3.58850446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.642557844 meters Centerline goodness : 0.152175 with order 1 Centerline is valid? [False, False] Translation: X:-18.28, Y:-0.06, Z:0.36 [[ 9.94523952e-01 -9.12653702e-03 -1.04109635e-01 -1.82780832e+01] [ 8.17722404e-03 9.99921042e-01 -9.54158798e-03 -6.40284894e-02] [ 1.04188497e-01 8.63800997e-03 9.94520056e-01 3.56243597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.702557844 meters Centerline goodness : 0.149671 with order 1 Centerline is valid? [False, False] Translation: X:-18.28, Y:-0.07, Z:0.36 [[ 9.94542009e-01 -8.98326858e-03 -1.03949478e-01 -1.82790690e+01] [ 8.06539458e-03 9.99924719e-01 -9.24697849e-03 -6.56048089e-02] [ 1.04024720e-01 8.35811501e-03 9.94539592e-01 3.57004628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.762557844 meters Centerline goodness : 0.146749 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:-0.07, Z:0.36 [[ 9.94651386e-01 1.94122314e-05 -1.03289012e-01 -1.82571134e+01] [-1.01689273e-03 9.99953358e-01 -9.60453025e-03 -6.64616823e-02] [ 1.03284008e-01 9.65819317e-03 9.94605014e-01 3.58937900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.822557844 meters Centerline goodness : 0.144740 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:-0.06, Z:0.36 [[ 9.94740669e-01 2.94547915e-04 -1.02425168e-01 -1.82598956e+01] [-1.31020962e-03 9.99950639e-01 -9.84899945e-03 -6.35051661e-02] [ 1.02417211e-01 9.93139874e-03 9.94691953e-01 3.59473493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.882557844 meters Centerline goodness : 0.146252 with order 1 Centerline is valid? [False, False] Translation: X:-18.26, Y:-0.06, Z:0.36 [[ 9.94720269e-01 1.70067392e-04 -1.02623376e-01 -1.82591510e+01] [-1.24714225e-03 9.99944814e-01 -1.04313434e-02 -6.01359380e-02] [ 1.02615938e-01 1.05042546e-02 9.94665587e-01 3.59070001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.942557844 meters Centerline goodness : 0.111511 with order 3 Centerline is valid? [False, False] Translation: X:-18.26, Y:-0.06, Z:0.36 [[ 9.94692052e-01 -1.30101139e-04 -1.02896575e-01 -1.82580860e+01] [-1.02918530e-03 9.99936599e-01 -1.12133503e-02 -5.62593209e-02] [ 1.02891510e-01 1.12597300e-02 9.94628853e-01 3.58471404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.002557844 meters Centerline goodness : 0.112398 with order 2 Centerline is valid? [False, False] Translation: X:-18.26, Y:-0.05, Z:0.36 [[ 9.94735655e-01 -1.98260699e-04 -1.02474086e-01 -1.82598809e+01] [-9.79020490e-04 9.99934103e-01 -1.14381525e-02 -5.47306048e-02] [ 1.02469601e-01 1.14782623e-02 9.94669910e-01 3.59309963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.062557844 meters Centerline goodness : 0.146387 with order 1 Centerline is valid? [False, False] Translation: X:-18.31, Y:-0.06, Z:0.36 [[ 9.94501104e-01 -5.87446761e-04 -1.04724447e-01 -1.83063270e+01] [-6.23902232e-04 9.99933288e-01 -1.15338784e-02 -5.52412780e-02] [ 1.04724236e-01 1.15357926e-02 9.94434392e-01 3.56055772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.122557844 meters Centerline goodness : 0.149029 with order 1 Centerline is valid? [False, False] Translation: X:-18.30, Y:-0.05, Z:0.36 [[ 9.94466380e-01 -6.48630578e-04 -1.05053308e-01 -1.83049837e+01] [-5.94502435e-04 9.99930182e-01 -1.18016081e-02 -5.33944779e-02] [ 1.05053629e-01 1.17987569e-02 9.94396563e-01 3.55382384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.18255784400003 meters Centerline goodness : 0.119864 with order 2 Centerline is valid? [False, False] Translation: X:-18.30, Y:-0.05, Z:0.36 [[ 9.94452244e-01 -7.63714777e-04 -1.05186266e-01 -1.83048559e+01] [-4.99450566e-04 9.99928089e-01 -1.19819787e-02 -5.26219089e-02] [ 1.05187853e-01 1.19680409e-02 9.94380351e-01 3.55654492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24255784400003 meters Centerline goodness : 0.147000 with order 1 Centerline is valid? [False, False] Translation: X:-18.31, Y:-0.05, Z:0.36 [[ 9.94449102e-01 -9.65716534e-04 -1.05214314e-01 -1.83051605e+01] [-3.20601284e-04 9.99925427e-01 -1.22080935e-02 -5.17935711e-02] [ 1.05218257e-01 1.21740594e-02 9.94374633e-01 3.56168467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.302557844 meters Centerline goodness : 0.122899 with order 3 Centerline is valid? [False, False] Translation: X:-18.30, Y:-0.05, Z:0.36 [[ 9.94430321e-01 -1.12447514e-03 -1.05390097e-01 -1.83044167e+01] [-2.03153927e-04 9.99920776e-01 -1.25857032e-02 -4.97832120e-02] [ 1.05395900e-01 1.25370153e-02 9.94351310e-01 3.55771930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.362557844 meters Centerline goodness : 0.185227 with order 3 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.05, Z:0.35 [[ 9.94204303e-01 -1.37772114e-03 -1.07498399e-01 -1.83512277e+01] [-3.88682977e-05 9.99913211e-01 -1.31745646e-02 -4.84577902e-02] [ 1.07507220e-01 1.31023871e-02 9.94117963e-01 3.52740049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.422557844 meters Centerline goodness : 0.145996 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.04, Z:0.35 [[ 9.94187227e-01 -1.77120146e-03 -1.07650456e-01 -1.83509110e+01] [ 2.55968945e-04 9.99900731e-01 -1.40876744e-02 -4.37420951e-02] [ 1.07664722e-01 1.39782308e-02 9.94088988e-01 3.52742303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.482557844 meters Centerline goodness : 0.153342 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.04, Z:0.35 [[ 9.94171631e-01 -2.12777031e-03 -1.07787941e-01 -1.83503268e+01] [ 5.32137526e-04 9.99889887e-01 -1.48300448e-02 -4.01349389e-02] [ 1.07807627e-01 1.46862518e-02 9.94063293e-01 3.52352558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.542557844 meters Centerline goodness : 0.152180 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.03, Z:0.35 [[ 9.94122305e-01 1.27076316e-03 -1.08255382e-01 -1.83495633e+01] [-2.60282520e-03 9.99922623e-01 -1.21643999e-02 -3.48812434e-02] [ 1.08231547e-01 1.23746711e-02 9.94048691e-01 3.52916117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.602557844 meters Centerline goodness : 0.156782 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.03, Z:0.35 [[ 9.94188579e-01 8.97569568e-04 -1.07648802e-01 -1.83519060e+01] [-2.29230885e-03 9.99915022e-01 -1.28333428e-02 -3.14499737e-02] [ 1.07628136e-01 1.30055272e-02 9.94106152e-01 3.53843666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.662557844 meters Centerline goodness : 0.156595 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.03, Z:0.35 [[ 9.94206434e-01 3.22993336e-04 -1.07487035e-01 -1.83526618e+01] [-1.80049110e-03 9.99905226e-01 -1.36490612e-02 -2.79629600e-02] [ 1.07472439e-01 1.37635139e-02 9.94112791e-01 3.54263246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.722557844 meters Centerline goodness : 0.246401 with order 3 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.03, Z:0.35 [[ 9.94135423e-01 1.13381793e-04 -1.08142261e-01 -1.83502147e+01] [-1.63376352e-03 9.99901072e-01 -1.39705939e-02 -2.66420722e-02] [ 1.08129978e-01 1.40653412e-02 9.94037260e-01 3.53344656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.782557844 meters Centerline goodness : 0.157890 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.03, Z:0.35 [[ 9.94119042e-01 7.15436275e-05 -1.08292776e-01 -1.83500421e+01] [-1.58396715e-03 9.99902412e-01 -1.38801064e-02 -2.74196524e-02] [ 1.08281215e-01 1.39700102e-02 9.94022141e-01 3.53671589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.842557844 meters Centerline goodness : 0.266159 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.03, Z:0.35 [[ 9.94126652e-01 9.33331204e-05 -1.08222874e-01 -1.83504180e+01] [-1.57593158e-03 9.99906083e-01 -1.36140464e-02 -2.92287921e-02] [ 1.08211439e-01 1.37046383e-02 9.94033434e-01 3.53947150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.902557844 meters Centerline goodness : 0.153340 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.03, Z:0.35 [[ 9.94146147e-01 2.11101589e-04 -1.08043483e-01 -1.83507735e+01] [-1.62513552e-03 9.99914179e-01 -1.29997543e-02 -3.31390835e-02] [ 1.08031467e-01 1.30992410e-02 9.94061171e-01 3.53900104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.962557844 meters Centerline goodness : 0.155415 with order 1 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.04, Z:0.35 [[ 9.94157595e-01 3.87197345e-04 -1.07937605e-01 -1.83510173e+01] [-1.76119597e-03 9.99918630e-01 -1.26345263e-02 -3.50969013e-02] [ 1.07923930e-01 1.27508095e-02 9.94077382e-01 3.53876103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.022557844 meters Centerline goodness : 0.122351 with order 2 Centerline is valid? [False, False] Translation: X:-18.35, Y:-0.04, Z:0.35 [[ 9.94120532e-01 5.60213740e-04 -1.08277671e-01 -1.83498460e+01] [-1.90938527e-03 9.99921826e-01 -1.23570182e-02 -3.68176090e-02] [ 1.08262284e-01 1.24911093e-02 9.94043887e-01 3.53504651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.082557844 meters Centerline goodness : 0.109695 with order 2 Centerline is valid? [False, False] Translation: X:-18.39, Y:-0.04, Z:0.35 [[ 9.93748779e-01 6.19962115e-04 -1.11637718e-01 -1.83927469e+01] [-1.98720489e-03 9.99924378e-01 -1.21362853e-02 -4.18732328e-02] [ 1.11621752e-01 1.22822657e-02 9.93674862e-01 3.49376429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.142557844 meters Centerline goodness : 0.145976 with order 1 Centerline is valid? [False, False] Translation: X:-18.38, Y:-0.04, Z:0.35 [[ 9.94072613e-01 -6.31263008e-03 -1.08534742e-01 -1.83751763e+01] [ 5.24847562e-03 9.99935345e-01 -1.00876093e-02 -4.08378735e-02] [ 1.08591404e-01 9.45817415e-03 9.94041473e-01 3.52392498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.202557844 meters Centerline goodness : 0.156047 with order 1 Centerline is valid? [False, False] Translation: X:-18.40, Y:-0.05, Z:0.35 [[ 9.94178353e-01 -3.15804852e-04 -1.07746478e-01 -1.83987270e+01] [-1.03688486e-03 9.99921358e-01 -1.24981209e-02 -4.75813115e-02] [ 1.07741951e-01 1.25370819e-02 9.94099841e-01 3.50602526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.262557844 meters Centerline goodness : 0.156571 with order 1 Centerline is valid? [False, False] Translation: X:-18.40, Y:-0.05, Z:0.35 [[ 9.94160295e-01 -1.51653317e-04 -1.07913322e-01 -1.83984679e+01] [-1.17735249e-03 9.99924252e-01 -1.22516748e-02 -4.86098787e-02] [ 1.07907006e-01 1.23071806e-02 9.94084811e-01 3.50787177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.322557844 meters Centerline goodness : 0.148162 with order 1 Centerline is valid? [False, False] Translation: X:-18.40, Y:-0.05, Z:0.35 [[ 9.94156611e-01 -1.41562774e-04 -1.07947271e-01 -1.83981133e+01] [-1.19303033e-03 9.99923656e-01 -1.22986986e-02 -4.83863638e-02] [ 1.07940771e-01 1.23556169e-02 9.94080544e-01 3.50443707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.382557844 meters Centerline goodness : 0.113647 with order 3 Centerline is valid? [False, False] Translation: X:-18.40, Y:-0.05, Z:0.35 [[ 9.94083433e-01 -9.92109544e-05 -1.08619144e-01 -1.83961776e+01] [-1.26042091e-03 9.99921718e-01 -1.24486963e-02 -4.71822533e-02] [ 1.08611876e-01 1.25119486e-02 9.94005489e-01 3.50155488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.442557844 meters Centerline goodness : 0.146003 with order 1 Centerline is valid? [False, False] Translation: X:-18.44, Y:-0.05, Z:0.35 [[ 9.93795462e-01 4.27947762e-04 -1.11222283e-01 -1.84424217e+01] [-1.75234256e-03 9.99928722e-01 -1.18101588e-02 -4.95233616e-02] [ 1.11209301e-01 1.19317818e-02 9.93725377e-01 3.47051315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.502557844 meters Centerline goodness : 0.086275 with order 1 Centerline is valid? [False, False] Translation: X:-18.45, Y:-0.04, Z:0.35 [[ 9.93898244e-01 3.03626288e-03 -1.10259070e-01 -1.84470072e+01] [-4.19377614e-03 9.99938491e-01 -1.02677323e-02 -4.23920455e-02] [ 1.10221113e-01 1.06674829e-02 9.93849843e-01 3.48862700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.562557844 meters Centerline goodness : 0.164168 with order 3 Centerline is valid? [False, False] Translation: X:-18.49, Y:-0.04, Z:0.35 [[ 9.93614723e-01 4.84713473e-03 -1.12722172e-01 -1.84924700e+01] [-5.94713292e-03 9.99937905e-01 -9.42427801e-03 -3.80635043e-02] [ 1.12669492e-01 1.00344751e-02 9.93581851e-01 3.45047414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.622557844 meters Centerline goodness : 0.094485 with order 1 Centerline is valid? [False, False] Translation: X:-18.49, Y:-0.03, Z:0.34 [[ 9.93484917e-01 6.86154772e-03 -1.13756927e-01 -1.84891872e+01] [-7.89422798e-03 9.99931600e-01 -8.62996276e-03 -2.84087996e-02] [ 1.13689931e-01 9.47176096e-03 9.93471130e-01 3.44431386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.68255784400003 meters Centerline goodness : 0.149423 with order 1 Centerline is valid? [False, False] Translation: X:-18.47, Y:-0.02, Z:0.35 [[ 9.93659312e-01 -9.87798447e-04 -1.12428628e-01 -1.84725416e+01] [ 1.25548674e-04 9.99970530e-01 -7.67612967e-03 -1.79253520e-02] [ 1.12432897e-01 7.61334246e-03 9.93630153e-01 3.49054717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74255784400003 meters Centerline goodness : 0.145253 with order 1 Centerline is valid? [False, False] Translation: X:-18.52, Y:-0.02, Z:0.34 [[ 9.93333780e-01 -2.70106221e-03 -1.15241941e-01 -1.85173163e+01] [ 1.65218188e-03 9.99956350e-01 -9.19609843e-03 -1.94130815e-02] [ 1.15261750e-01 8.94439458e-03 9.93294884e-01 3.44673780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.802557844 meters Centerline goodness : 0.409695 with order 1 Centerline is valid? [False, False] Translation: X:-18.52, Y:-0.02, Z:0.34 [[ 9.93307116e-01 -2.90608480e-03 -1.15466568e-01 -1.85167269e+01] [ 1.79841116e-03 9.99951375e-01 -9.69604377e-03 -1.64675432e-02] [ 1.15489131e-01 9.42349291e-03 9.93264043e-01 3.44589583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.862557844 meters Centerline goodness : 0.153721 with order 1 Centerline is valid? [False, False] Translation: X:-18.50, Y:-0.02, Z:0.35 [[ 9.93335931e-01 4.51008233e-03 -1.15166780e-01 -1.84966316e+01] [-5.87572387e-03 9.99916365e-01 -1.15212261e-02 -1.71889907e-02] [ 1.15105186e-01 1.21211361e-02 9.93279354e-01 3.48159388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.922557844 meters Centerline goodness : 0.155272 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:-0.02, Z:0.34 [[ 9.93061839e-01 3.89159101e-03 -1.17528885e-01 -1.85421719e+01] [-5.35273374e-03 9.99912234e-01 -1.21191157e-02 -1.82817525e-02] [ 1.17471408e-01 1.26641322e-02 9.92995513e-01 3.43922731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.982557844 meters Centerline goodness : 0.156526 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:-0.02, Z:0.34 [[ 9.93068689e-01 3.56495282e-03 -1.17481361e-01 -1.85422718e+01] [-5.03198883e-03 9.99912999e-01 -1.21931502e-02 -1.87703862e-02] [ 1.17427672e-01 1.26998006e-02 9.93000230e-01 3.43959299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.042557844 meters Centerline goodness : 0.152542 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:-0.02, Z:0.34 [[ 9.93016204e-01 3.22901353e-03 -1.17933845e-01 -1.85410224e+01] [-4.69264423e-03 9.99915356e-01 -1.21350368e-02 -2.04337115e-02] [ 1.17884678e-01 1.26037098e-02 9.92947304e-01 3.43938724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.102557844 meters Centerline goodness : 0.244592 with order 3 Centerline is valid? [False, False] Translation: X:-18.54, Y:-0.03, Z:0.35 [[ 9.93048529e-01 5.02829254e-04 -1.17704568e-01 -1.85434407e+01] [-2.14430782e-03 9.99902207e-01 -1.38195286e-02 -2.60565498e-02] [ 1.17686109e-01 1.39758574e-02 9.92952494e-01 3.45683308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.162557844 meters Centerline goodness : 0.096784 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:-0.03, Z:0.35 [[ 9.93027407e-01 -3.33520676e-03 -1.17836519e-01 -1.85432188e+01] [ 1.37724051e-03 9.99859706e-01 -1.66934775e-02 -3.05165864e-02] [ 1.17875664e-01 1.64147914e-02 9.92892684e-01 3.45874318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.222557844 meters Centerline goodness : 0.151614 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:-0.04, Z:0.35 [[ 9.93021076e-01 -3.25200341e-03 -1.17892187e-01 -1.85430695e+01] [ 1.38504586e-03 9.99872395e-01 -1.59146145e-02 -3.55218572e-02] [ 1.17928898e-01 1.56402615e-02 9.92898866e-01 3.45943737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.282557844 meters Centerline goodness : 0.157640 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.04, Z:0.35 [[ 9.93169936e-01 -5.15437039e-03 -1.16562906e-01 -1.85485360e+01] [ 3.21045773e-03 9.99852730e-01 -1.68585469e-02 -4.24804128e-02] [ 1.16632635e-01 1.63691817e-02 9.93040220e-01 3.47846116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.342557844 meters Centerline goodness : 0.148531 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.05, Z:0.35 [[ 9.93133506e-01 -9.00438907e-03 -1.16639448e-01 -1.85481404e+01] [ 6.76851883e-03 9.99785950e-01 -1.95510085e-02 -4.94582849e-02] [ 1.16790526e-01 1.86272853e-02 9.92981872e-01 3.47709156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.402557844 meters Centerline goodness : 0.226262 with order 3 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.05, Z:0.35 [[ 9.93134256e-01 -8.03093052e-03 -1.16704130e-01 -1.85474568e+01] [ 5.92282647e-03 9.99813176e-01 -1.83992485e-02 -5.34912805e-02] [ 1.16830090e-01 1.75817056e-02 9.92996281e-01 3.47022235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.462557844 meters Centerline goodness : 0.149062 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.06, Z:0.35 [[ 9.93189335e-01 -7.75211266e-03 -1.16253387e-01 -1.85489568e+01] [ 5.70593006e-03 9.99823079e-01 -1.79235404e-02 -5.60157142e-02] [ 1.16371764e-01 1.71381354e-02 9.93057852e-01 3.47361929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.522557844 meters Centerline goodness : 0.146613 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.06, Z:0.35 [[ 9.93243840e-01 -7.28227633e-03 -1.15817279e-01 -1.85506549e+01] [ 5.35629995e-03 9.99842297e-01 -1.69319810e-02 -6.16901653e-02] [ 1.15922318e-01 1.61972337e-02 9.93126208e-01 3.48014239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.582557844 meters Centerline goodness : 0.204584 with order 3 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.07, Z:0.35 [[ 9.93240228e-01 -6.91601814e-03 -1.15870700e-01 -1.85504097e+01] [ 5.07914959e-03 9.99856833e-01 -1.61405109e-02 -6.60308996e-02] [ 1.15965739e-01 1.54428801e-02 9.93133156e-01 3.47921454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.642557844 meters Centerline goodness : 0.148853 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.07, Z:0.35 [[ 9.93252795e-01 -6.36928273e-03 -1.15794285e-01 -1.85500360e+01] [ 4.65480420e-03 9.99875597e-01 -1.50706322e-02 -7.19209996e-02] [ 1.15875869e-01 1.44299478e-02 9.93158879e-01 3.47296217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.702557844 meters Centerline goodness : 0.205219 with order 3 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.07, Z:0.35 [[ 9.93219913e-01 -5.98662694e-03 -1.16096362e-01 -1.85489096e+01] [ 4.33327105e-03 9.99885648e-01 -1.44884063e-02 -7.47248634e-02] [ 1.16169823e-01 1.38870966e-02 9.93132278e-01 3.46855282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.762557844 meters Centerline goodness : 0.146044 with order 1 Centerline is valid? [False, False] Translation: X:-18.57, Y:-0.08, Z:0.34 [[ 9.93056270e-01 2.28398666e-03 -1.17618147e-01 -1.85672658e+01] [-4.08468771e-03 9.99878084e-01 -1.50709442e-02 -8.31168999e-02] [ 1.17569386e-01 1.54467291e-02 9.92944529e-01 3.42932476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.822557844 meters Centerline goodness : 0.217362 with order 1 Centerline is valid? [False, False] Translation: X:-18.57, Y:-0.09, Z:0.34 [[ 9.93035548e-01 2.59768661e-03 -1.17786467e-01 -1.85666499e+01] [-4.33633152e-03 9.99885363e-01 -1.45071209e-02 -8.59690426e-02] [ 1.17735280e-01 1.49168480e-02 9.92932974e-01 3.42715035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.882557844 meters Centerline goodness : 0.147014 with order 1 Centerline is valid? [False, False] Translation: X:-18.57, Y:-0.09, Z:0.34 [[ 9.93097749e-01 2.89421618e-03 -1.17253930e-01 -1.85682465e+01] [-4.52892368e-03 9.99896201e-01 -1.36775641e-02 -9.04483956e-02] [ 1.17202173e-01 1.41141922e-02 9.93007774e-01 3.42992038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.942557844 meters Centerline goodness : 0.149879 with order 1 Centerline is valid? [False, False] Translation: X:-18.57, Y:-0.10, Z:0.34 [[ 9.93226642e-01 7.71683953e-04 -1.16190544e-01 -1.85723818e+01] [-2.51176664e-03 9.99886868e-01 -1.48304401e-02 -9.68536204e-02] [ 1.16165954e-01 1.50218317e-02 9.93116215e-01 3.44266137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.002557844 meters Centerline goodness : 0.126819 with order 3 Centerline is valid? [False, False] Translation: X:-18.57, Y:-0.11, Z:0.34 [[ 9.93172809e-01 -2.80493974e-03 -1.16618624e-01 -1.85702441e+01] [ 8.32902148e-04 9.99855899e-01 -1.69554374e-02 -1.06699778e-01] [ 1.16649378e-01 1.67425475e-02 9.93032028e-01 3.43314832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.062557844 meters Centerline goodness : 0.141507 with order 1 Centerline is valid? [False, False] Translation: X:-18.57, Y:-0.11, Z:0.34 [[ 9.93147218e-01 -2.42024356e-03 -1.16844962e-01 -1.85695998e+01] [ 5.62616112e-04 9.99872974e-01 -1.59285901e-02 -1.13097481e-01] [ 1.16868671e-01 1.57536960e-02 9.93022424e-01 3.43345643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.122557844 meters Centerline goodness : 0.123919 with order 3 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.12, Z:0.35 [[ 9.93315385e-01 6.63838027e-03 -1.15240953e-01 -1.85498513e+01] [-8.59814960e-03 9.99826614e-01 -1.65170885e-02 -1.17399109e-01] [ 1.15111325e-01 1.73975371e-02 9.93200236e-01 3.46288368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.18255784400003 meters Centerline goodness : 0.236436 with order 3 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.12, Z:0.35 [[ 9.93284285e-01 7.09349365e-03 -1.15481648e-01 -1.85485858e+01] [-9.06920630e-03 9.99821211e-01 -1.65920275e-02 -1.15638372e-01] [ 1.15343306e-01 1.75279271e-02 9.93171029e-01 3.45353892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24255784400003 meters Centerline goodness : 0.139274 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.11, Z:0.34 [[ 9.93261910e-01 7.42905602e-03 -1.15652876e-01 -1.85472748e+01] [-9.46630859e-03 9.99809382e-01 -1.70759595e-02 -1.11355814e-01] [ 1.15503973e-01 1.80557060e-02 9.93142902e-01 3.44045644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.302557844 meters Centerline goodness : 0.138018 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.11, Z:0.34 [[ 9.93262613e-01 7.30590259e-03 -1.15654685e-01 -1.85472821e+01] [-9.37340715e-03 9.99805665e-01 -1.73427655e-02 -1.10082357e-01] [ 1.15505504e-01 1.83099990e-02 9.93138068e-01 3.43991058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.362557844 meters Centerline goodness : 0.139539 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.11, Z:0.34 [[ 9.93290561e-01 7.22908701e-03 -1.15419243e-01 -1.85480285e+01] [-9.32713782e-03 9.99800758e-01 -1.76479349e-02 -1.07742434e-01] [ 1.15268668e-01 1.86060583e-02 9.93160082e-01 3.44082340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.422557844 meters Centerline goodness : 0.118639 with order 3 Centerline is valid? [False, False] Translation: X:-18.53, Y:-0.10, Z:0.35 [[ 9.93432290e-01 -1.07998485e-03 -1.14416427e-01 -1.85292714e+01] [-8.79460415e-04 9.99853847e-01 -1.70736968e-02 -1.01101974e-01] [ 1.14418144e-01 1.70621865e-02 9.93286147e-01 3.47198472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.482557844 meters Centerline goodness : 0.140349 with order 1 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.10, Z:0.34 [[ 9.93342239e-01 -1.04613490e-02 -1.14724698e-01 -1.85511873e+01] [ 8.60798723e-03 9.99824518e-01 -1.66384045e-02 -9.79636036e-02] [ 1.14878626e-01 1.55400812e-02 9.93257976e-01 3.43995166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.542557844 meters Centerline goodness : 0.129794 with order 3 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.10, Z:0.34 [[ 9.93324392e-01 -1.04059910e-02 -1.14884152e-01 -1.85510327e+01] [ 8.57014126e-03 9.99827756e-01 -1.64623951e-02 -9.84736029e-02] [ 1.15035671e-01 1.53679251e-02 9.93242479e-01 3.44298901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.602557844 meters Centerline goodness : 0.126056 with order 3 Centerline is valid? [False, False] Translation: X:-18.55, Y:-0.10, Z:0.34 [[ 9.93284008e-01 -1.03855825e-02 -1.15234628e-01 -1.85500580e+01] [ 8.58308442e-03 9.99833109e-01 -1.61271724e-02 -1.00557359e-01] [ 1.15382887e-01 1.50297939e-02 9.93207378e-01 3.44312299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.662557844 meters Centerline goodness : 0.135532 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-0.11, Z:0.34 [[ 9.93016165e-01 -1.39140220e-02 -1.17155010e-01 -1.85956387e+01] [ 1.19578128e-02 9.99777379e-01 -1.73840034e-02 -1.12394478e-01] [ 1.17370810e-01 1.58616787e-02 9.92961480e-01 3.40345397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.722557844 meters Centerline goodness : 0.129213 with order 1 Centerline is valid? [False, False] Translation: X:-18.59, Y:-0.12, Z:0.34 [[ 9.92922212e-01 -1.67162608e-02 -1.17584211e-01 -1.85921435e+01] [ 1.45763104e-02 9.99712543e-01 -1.90358316e-02 -1.20376273e-01] [ 1.17868619e-01 1.71871560e-02 9.92880451e-01 3.38238357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.782557844 meters Centerline goodness : 0.152553 with order 3 Centerline is valid? [False, False] Translation: X:-18.59, Y:-0.12, Z:0.34 [[ 9.92906767e-01 -1.62951759e-02 -1.17773593e-01 -1.85912898e+01] [ 1.42517461e-02 9.99733299e-01 -1.81719412e-02 -1.24764457e-01] [ 1.18038298e-01 1.63645641e-02 9.92874192e-01 3.37817029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.842557844 meters Centerline goodness : 0.142832 with order 1 Centerline is valid? [False, False] Translation: X:-18.61, Y:-0.14, Z:0.33 [[ 9.93284971e-01 -7.91761694e-03 -1.15422170e-01 -1.86140224e+01] [ 5.96872536e-03 9.99833896e-01 -1.72207523e-02 -1.36746540e-01] [ 1.15539345e-01 1.64161912e-02 9.93167241e-01 3.34882682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.902557844 meters Centerline goodness : 0.135323 with order 1 Centerline is valid? [False, False] Translation: X:-18.59, Y:-0.14, Z:0.34 [[ 9.93342770e-01 1.01965061e-04 -1.15196056e-01 -1.85944171e+01] [-2.30803544e-03 9.99816490e-01 -1.90173522e-02 -1.40692092e-01] [ 1.15172977e-01 1.91566259e-02 9.93160717e-01 3.38688112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.962557844 meters Centerline goodness : 0.137147 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-0.14, Z:0.34 [[ 9.93497824e-01 6.95894748e-04 -1.13848975e-01 -1.85980814e+01] [-2.85599057e-03 9.99818972e-01 -1.88113389e-02 -1.39401855e-01] [ 1.13815274e-01 1.90141758e-02 9.93319961e-01 3.38718051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.022557844 meters Centerline goodness : 0.136428 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-0.14, Z:0.34 [[ 9.93541121e-01 5.60932392e-04 -1.13471256e-01 -1.85992179e+01] [-2.73878891e-03 9.99815009e-01 -1.90380440e-02 -1.38636852e-01] [ 1.13439586e-01 1.92258534e-02 9.93358861e-01 3.38833911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.082557844 meters Centerline goodness : 0.124962 with order 3 Centerline is valid? [False, False] Translation: X:-18.60, Y:-0.14, Z:0.34 [[ 9.93517581e-01 4.48566490e-04 -1.13677684e-01 -1.85983114e+01] [-2.66045395e-03 9.99810071e-01 -1.93065728e-02 -1.37174014e-01] [ 1.13647433e-01 1.94838538e-02 9.93330076e-01 3.38283554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.142557844 meters Centerline goodness : 0.142431 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-0.14, Z:0.34 [[ 9.93447489e-01 3.15642228e-04 -1.14289053e-01 -1.85962864e+01] [-2.55593291e-03 9.99807448e-01 -1.94559638e-02 -1.36723372e-01] [ 1.14260906e-01 1.96205935e-02 9.93257005e-01 3.37680675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.202557844 meters Centerline goodness : 0.129387 with order 1 Centerline is valid? [False, False] Translation: X:-18.60, Y:-0.14, Z:0.34 [[ 9.93426977e-01 -3.35057595e-03 -1.14418599e-01 -1.85959266e+01] [ 8.48195045e-04 9.99759542e-01 -2.19120882e-02 -1.42620939e-01] [ 1.14464504e-01 2.16710102e-02 9.93190941e-01 3.37677960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.262557844 meters Centerline goodness : 0.124098 with order 1 Centerline is valid? [False, False] Translation: X:-18.59, Y:-0.15, Z:0.34 [[ 9.93409046e-01 -3.24747779e-03 -1.14577137e-01 -1.85949563e+01] [ 8.18579622e-04 9.99774082e-01 -2.12394879e-02 -1.46785366e-01] [ 1.14620227e-01 2.10057089e-02 9.93187275e-01 3.37082879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.322557844 meters Centerline goodness : 0.133149 with order 1 Centerline is valid? [False, False] Translation: X:-18.62, Y:-0.15, Z:0.33 [[ 9.93390378e-01 5.65215561e-03 -1.14645585e-01 -1.86158640e+01] [-8.15593329e-03 9.99738111e-01 -2.13819858e-02 -1.52869013e-01] [ 1.14494707e-01 2.21757007e-02 9.93176319e-01 3.33745370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.382557844 meters Centerline goodness : 0.126509 with order 3 Centerline is valid? [False, False] Translation: X:-18.61, Y:-0.15, Z:0.33 [[ 9.93315621e-01 9.78058619e-03 -1.15014860e-01 -1.86144679e+01] [-1.19441799e-02 9.99764159e-01 -1.81373167e-02 -1.50227639e-01] [ 1.14810341e-01 1.93898381e-02 9.93198177e-01 3.33319686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.442557844 meters Centerline goodness : 0.126675 with order 1 Centerline is valid? [False, False] Translation: X:-18.66, Y:-0.15, Z:0.33 [[ 9.92918137e-01 1.24199322e-02 -1.18149556e-01 -1.86585482e+01] [-1.44381435e-02 9.99763853e-01 -1.62412394e-02 -1.47655980e-01] [ 1.17919941e-01 1.78320815e-02 9.92862984e-01 3.29116880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.502557844 meters Centerline goodness : 0.131742 with order 1 Centerline is valid? [False, False] Translation: X:-18.66, Y:-0.15, Z:0.33 [[ 9.92954623e-01 1.22217308e-02 -1.17863255e-01 -1.86596612e+01] [-1.42695218e-02 9.99761276e-01 -1.65460764e-02 -1.46650632e-01] [ 1.17632896e-01 1.81113554e-02 9.92891978e-01 3.29553417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.562557844 meters Centerline goodness : 0.131602 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-0.14, Z:0.33 [[ 9.93294310e-01 1.63298539e-03 -1.15601675e-01 -1.86448892e+01] [-3.69089928e-03 9.99838472e-01 -1.75899496e-02 -1.40748293e-01] [ 1.15554278e-01 1.78986710e-02 9.93139893e-01 3.34324228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.622557844 meters Centerline goodness : 0.126914 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-0.14, Z:0.33 [[ 9.93249099e-01 1.03496382e-03 -1.15996364e-01 -1.86436654e+01] [-3.09899401e-03 9.99840041e-01 -1.76149895e-02 -1.42426593e-01] [ 1.15959579e-01 1.78555445e-02 9.93093427e-01 3.34201801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.68255784400003 meters Centerline goodness : 0.131465 with order 1 Centerline is valid? [False, False] Translation: X:-18.64, Y:-0.15, Z:0.34 [[ 9.93263837e-01 -3.05300846e-03 -1.15834490e-01 -1.86447847e+01] [ 6.58833695e-04 9.99785482e-01 -2.07015877e-02 -1.46637552e-01] [ 1.15872843e-01 2.04858228e-02 9.93052776e-01 3.35106981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74255784400003 meters Centerline goodness : 0.132641 with order 1 Centerline is valid? [False, False] Translation: X:-18.65, Y:-0.15, Z:0.34 [[ 9.93284028e-01 -3.02596797e-03 -1.15661934e-01 -1.86459803e+01] [ 6.58639626e-04 9.99789628e-01 -2.05003936e-02 -1.48105643e-01] [ 1.15699635e-01 2.02865340e-02 9.93077062e-01 3.36067911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.802557844 meters Centerline goodness : 0.130428 with order 1 Centerline is valid? [False, False] Translation: X:-18.67, Y:-0.15, Z:0.33 [[ 9.93132458e-01 6.58546771e-03 -1.16809895e-01 -1.86651277e+01] [-9.04128513e-03 9.99748835e-01 -2.05066537e-02 -1.49871296e-01] [ 1.16645510e-01 2.14219350e-02 9.92942559e-01 3.32459151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.862557844 meters Centerline goodness : 0.130410 with order 1 Centerline is valid? [False, False] Translation: X:-18.66, Y:-0.15, Z:0.33 [[ 9.93077527e-01 6.87906736e-03 -1.17259135e-01 -1.86637699e+01] [-9.40090051e-03 9.99735969e-01 -2.09669972e-02 -1.46366231e-01] [ 1.17083941e-01 2.19241951e-02 9.92879993e-01 3.32075933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.922557844 meters Centerline goodness : 0.139980 with order 1 Centerline is valid? [False, False] Translation: X:-18.66, Y:-0.14, Z:0.33 [[ 9.93069910e-01 7.36921458e-03 -1.17293856e-01 -1.86642153e+01] [-9.89714936e-03 9.99730816e-01 -2.09843073e-02 -1.44458265e-01] [ 1.17107644e-01 2.19997590e-02 9.92875526e-01 3.32553280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.982557844 meters Centerline goodness : 0.128019 with order 1 Centerline is valid? [False, False] Translation: X:-18.69, Y:-0.14, Z:0.33 [[ 9.93056770e-01 -1.62300082e-03 -1.17624904e-01 -1.86866506e+01] [-7.56306535e-04 9.99796068e-01 -2.01804642e-02 -1.44013814e-01] [ 1.17633669e-01 2.01293071e-02 9.92853026e-01 3.30215180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.042557844 meters Centerline goodness : 0.139130 with order 1 Centerline is valid? [False, False] Translation: X:-18.69, Y:-0.15, Z:0.33 [[ 9.93003008e-01 -1.25943107e-03 -1.18082344e-01 -1.86852196e+01] [-1.03926962e-03 9.99811197e-01 -1.94033340e-02 -1.47604130e-01] [ 1.18084486e-01 1.93902884e-02 9.92814218e-01 3.29922096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.102557844 meters Centerline goodness : 0.130704 with order 1 Centerline is valid? [False, False] Translation: X:-18.68, Y:-0.15, Z:0.33 [[ 9.92934132e-01 -1.01149423e-03 -1.18662490e-01 -1.86831799e+01] [-1.24722758e-03 9.99819483e-01 -1.89590363e-02 -1.49627573e-01] [ 1.18660247e-01 1.89730734e-02 9.92753629e-01 3.29298936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.162557844 meters Centerline goodness : 0.122288 with order 3 Centerline is valid? [False, False] Translation: X:-18.68, Y:-0.15, Z:0.33 [[ 9.92921889e-01 -9.14713180e-04 -1.18765673e-01 -1.86833190e+01] [-1.30763689e-03 9.99825540e-01 -1.86327820e-02 -1.51748585e-01] [ 1.18761996e-01 1.86561995e-02 9.92747468e-01 3.29789377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.222557844 meters Centerline goodness : 0.134362 with order 1 Centerline is valid? [False, False] Translation: X:-18.68, Y:-0.15, Z:0.33 [[ 9.92942037e-01 -8.23924825e-04 -1.18597778e-01 -1.86841737e+01] [-1.37357722e-03 9.99828913e-01 -1.84460996e-02 -1.52615752e-01] [ 1.18592686e-01 1.84788109e-02 9.92771025e-01 3.30298009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.282557844 meters Centerline goodness : 0.123113 with order 1 Centerline is valid? [False, False] Translation: X:-18.69, Y:-0.15, Z:0.33 [[ 9.93014995e-01 -6.11999715e-04 -1.17986628e-01 -1.86867637e+01] [-1.53938700e-03 9.99834232e-01 -1.81421630e-02 -1.53462262e-01] [ 1.17978173e-01 1.81970670e-02 9.92849444e-01 3.31557479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.342557844 meters Centerline goodness : 0.131348 with order 1 Centerline is valid? [False, False] Translation: X:-18.69, Y:-0.15, Z:0.33 [[ 9.93031182e-01 -7.34790937e-04 -1.17849612e-01 -1.86872303e+01] [-1.44234159e-03 9.99829896e-01 -1.83874694e-02 -1.52582499e-01] [ 1.17843076e-01 1.84293099e-02 9.92861204e-01 3.31670730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.402557844 meters Centerline goodness : 0.131395 with order 1 Centerline is valid? [False, False] Translation: X:-18.69, Y:-0.15, Z:0.33 [[ 9.93100392e-01 -6.91072594e-04 -1.17265227e-01 -1.86885428e+01] [-1.51829164e-03 9.99823044e-01 -1.87503695e-02 -1.49936206e-01] [ 1.17257434e-01 1.87990421e-02 9.92923607e-01 3.31338469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.462557844 meters Centerline goodness : 0.131618 with order 1 Centerline is valid? [False, False] Translation: X:-18.69, Y:-0.15, Z:0.33 [[ 9.93000682e-01 -8.90876448e-04 -1.18105256e-01 -1.86855450e+01] [-1.42506261e-03 9.99808388e-01 -1.95232115e-02 -1.45859120e-01] [ 1.18100018e-01 1.95548698e-02 9.92809142e-01 3.30157812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.522557844 meters Centerline goodness : 0.134257 with order 1 Centerline is valid? [False, False] Translation: X:-18.68, Y:-0.14, Z:0.33 [[ 9.92782166e-01 1.51974194e-03 -1.19921900e-01 -1.86783749e+01] [-3.71811501e-03 9.99829086e-01 -1.81100872e-02 -1.38432751e-01] [ 1.19873881e-01 1.84252550e-02 9.92618135e-01 3.27707479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.582557844 meters Centerline goodness : 0.136495 with order 1 Centerline is valid? [False, False] Translation: X:-18.68, Y:-0.13, Z:0.33 [[ 9.92820646e-01 1.09604014e-03 -1.19607543e-01 -1.86796209e+01] [-3.38955279e-03 9.99814240e-01 -1.89735647e-02 -1.34398731e-01] [ 1.19564529e-01 1.92427628e-02 9.92639935e-01 3.28180957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.642557844 meters Centerline goodness : 0.136238 with order 1 Centerline is valid? [False, False] Translation: X:-18.68, Y:-0.13, Z:0.33 [[ 9.92815114e-01 6.79179461e-04 -1.19656545e-01 -1.86789887e+01] [-3.08594533e-03 9.99796619e-01 -1.99298069e-02 -1.29148175e-01] [ 1.19618673e-01 2.01558671e-02 9.92615290e-01 3.27467241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.702557844 meters Centerline goodness : 0.140529 with order 1 Centerline is valid? [False, False] Translation: X:-18.70, Y:-0.12, Z:0.32 [[ 9.92794182e-01 -7.39617128e-03 -1.19603550e-01 -1.86981964e+01] [ 5.13901914e-03 9.99803043e-01 -1.91693829e-02 -1.17721045e-01] [ 1.19721774e-01 1.84166069e-02 9.92636653e-01 3.23682156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.762557844 meters Centerline goodness : 0.120946 with order 3 Centerline is valid? [False, False] Translation: X:-18.68, Y:-0.11, Z:0.33 [[ 9.93059287e-01 -1.61195434e-02 -1.16504991e-01 -1.86822068e+01] [ 1.40266019e-02 9.99725582e-01 -1.87620518e-02 -1.10100744e-01] [ 1.16775455e-01 1.69976607e-02 9.93012876e-01 3.27849384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.822557844 meters Centerline goodness : 0.143249 with order 1 Centerline is valid? [False, False] Translation: X:-18.68, Y:-0.11, Z:0.33 [[ 9.92928844e-01 -1.68180200e-02 -1.17513677e-01 -1.86789632e+01] [ 1.46673392e-02 9.99709175e-01 -1.91424930e-02 -1.10279778e-01] [ 1.17801440e-01 1.72835205e-02 9.92886751e-01 3.27218722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.882557844 meters Centerline goodness : 0.140726 with order 1 Centerline is valid? [False, False] Translation: X:-18.72, Y:-0.12, Z:0.32 [[ 9.92617759e-01 -1.84210756e-02 -1.19877639e-01 -1.87239579e+01] [ 1.62589457e-02 9.99687477e-01 -1.89893657e-02 -1.17105915e-01] [ 1.20189979e-01 1.69000976e-02 9.92607050e-01 3.23195595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.942557844 meters Centerline goodness : 0.132091 with order 1 Centerline is valid? [False, False] Translation: X:-18.72, Y:-0.12, Z:0.32 [[ 9.92639727e-01 -1.83927537e-02 -1.19699955e-01 -1.87247712e+01] [ 1.62511653e-02 9.99690373e-01 -1.88430018e-02 -1.18004082e-01] [ 1.20009468e-01 1.67590484e-02 9.92631282e-01 3.23668448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.002557844 meters Centerline goodness : 0.141054 with order 1 Centerline is valid? [False, False] Translation: X:-18.72, Y:-0.12, Z:0.32 [[ 9.92611456e-01 -1.83860073e-02 -1.19935200e-01 -1.87240373e+01] [ 1.62575181e-02 9.99692927e-01 -1.87014548e-02 -1.19319734e-01] [ 1.20242216e-01 1.66134296e-02 9.92605563e-01 3.23529885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.062557844 meters Centerline goodness : 0.146551 with order 1 Centerline is valid? [False, False] Translation: X:-18.74, Y:-0.13, Z:0.32 [[ 9.92917334e-01 -1.10056975e-02 -1.18296415e-01 -1.87439540e+01] [ 8.79031929e-03 9.99776389e-01 -1.92328408e-02 -1.27741502e-01] [ 1.18481633e-01 1.80567578e-02 9.92792051e-01 3.19580092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.122557844 meters Centerline goodness : 0.132704 with order 1 Centerline is valid? [False, False] Translation: X:-18.74, Y:-0.13, Z:0.32 [[ 9.92912974e-01 -1.09502219e-02 -1.18338153e-01 -1.87438510e+01] [ 8.75478138e-03 9.99780083e-01 -1.90562191e-02 -1.28816636e-01] [ 1.18520798e-01 1.78851425e-02 9.92790482e-01 3.19598300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.18255784400003 meters Centerline goodness : 0.139001 with order 1 Centerline is valid? [False, False] Translation: X:-18.74, Y:-0.13, Z:0.32 [[ 9.92763332e-01 -1.35429585e-02 -1.19321229e-01 -1.87392801e+01] [ 1.11236397e-02 9.99719302e-01 -2.09184524e-02 -1.34731758e-01] [ 1.19571034e-01 1.94397861e-02 9.92635312e-01 3.17838528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24255784400003 meters Centerline goodness : 0.143896 with order 1 Centerline is valid? [False, False] Translation: X:-18.74, Y:-0.14, Z:0.32 [[ 9.92776038e-01 -1.33341916e-02 -1.19238991e-01 -1.87396344e+01] [ 1.10128632e-02 9.99737205e-01 -2.01056777e-02 -1.40633146e-01] [ 1.19475749e-01 1.86472724e-02 9.92661989e-01 3.18050253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.302557844 meters Centerline goodness : 0.138342 with order 1 Centerline is valid? [False, False] Translation: X:-18.74, Y:-0.15, Z:0.32 [[ 9.92795806e-01 -1.25930511e-02 -1.19154949e-01 -1.87398031e+01] [ 1.04441083e-02 9.99771669e-01 -1.86421869e-02 -1.48482505e-01] [ 1.19362504e-01 1.72634178e-02 9.92700643e-01 3.18055714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.362557844 meters Centerline goodness : 0.128571 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.16, Z:0.31 [[ 9.92976553e-01 -4.99316624e-03 -1.18205893e-01 -1.87585670e+01] [ 2.74871519e-03 9.99812976e-01 -1.91430614e-02 -1.57993737e-01] [ 1.18279370e-01 1.86836968e-02 9.92804568e-01 3.13466562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.422557844 meters Centerline goodness : 0.131113 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.16, Z:0.31 [[ 9.93011738e-01 -4.24001318e-03 -1.17939432e-01 -1.87591687e+01] [ 2.11941761e-03 9.99833935e-01 -1.80999897e-02 -1.62305035e-01] [ 1.17996590e-01 1.77235393e-02 9.92855821e-01 3.13315312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.482557844 meters Centerline goodness : 0.137664 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.17, Z:0.31 [[ 9.92955100e-01 -3.89019243e-03 -1.18427348e-01 -1.87574132e+01] [ 1.84090474e-03 9.99846763e-01 -1.74086527e-02 -1.65703074e-01] [ 1.18476923e-01 1.70679970e-02 9.92810104e-01 3.12666730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.542557844 meters Centerline goodness : 0.141365 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.17, Z:0.31 [[ 9.92961521e-01 -3.41811639e-03 -1.18388069e-01 -1.87573790e+01] [ 1.48051065e-03 9.99863583e-01 -1.64506441e-02 -1.70288180e-01] [ 1.18428149e-01 1.61595818e-02 9.92831124e-01 3.12526569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.602557844 meters Centerline goodness : 0.128608 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.93019601e-01 -7.14755576e-03 -1.17732683e-01 -1.87592944e+01] [ 4.94134241e-03 9.99806885e-01 -1.90204244e-02 -1.77112566e-01] [ 1.17845897e-01 1.83058967e-02 9.92863152e-01 3.12799705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.662557844 meters Centerline goodness : 0.246344 with order 3 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.92996314e-01 -6.66835180e-03 -1.17956996e-01 -1.87585899e+01] [ 4.57449835e-03 9.99827291e-01 -1.80128368e-02 -1.81928158e-01] [ 1.18056739e-01 1.73470865e-02 9.92855319e-01 3.12646742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.722557844 meters Centerline goodness : 0.135112 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.92932911e-01 -6.30630024e-03 -1.18509343e-01 -1.87567083e+01] [ 4.27075440e-03 9.99839098e-01 -1.74223643e-02 -1.84799836e-01] [ 1.18600146e-01 1.67931146e-02 9.92800079e-01 3.12121214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.782557844 meters Centerline goodness : 0.134370 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.19, Z:0.31 [[ 9.92906134e-01 -6.27190232e-03 -1.18735300e-01 -1.87559027e+01] [ 4.23238475e-03 9.99839278e-01 -1.74213861e-02 -1.85023891e-01] [ 1.18825482e-01 1.67952677e-02 9.92773098e-01 3.11786733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.842557844 meters Centerline goodness : 0.135098 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.19, Z:0.31 [[ 9.92947320e-01 -6.14781944e-03 -1.18396892e-01 -1.87571221e+01] [ 4.12463167e-03 9.99841392e-01 -1.73256438e-02 -1.85023184e-01] [ 1.18484628e-01 1.67151080e-02 9.92815188e-01 3.12122926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.902557844 meters Centerline goodness : 0.136882 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.19, Z:0.31 [[ 9.92973104e-01 -6.08295219e-03 -1.18183810e-01 -1.87579191e+01] [ 4.08126240e-03 9.99844225e-01 -1.71717329e-02 -1.85566288e-01] [ 1.18269855e-01 1.65687298e-02 9.92843250e-01 3.12406183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.962557844 meters Centerline goodness : 0.133859 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.19, Z:0.31 [[ 9.92993865e-01 -6.05391863e-03 -1.18010734e-01 -1.87584634e+01] [ 4.05787885e-03 9.99844745e-01 -1.71469989e-02 -1.85210954e-01] [ 1.18096219e-01 1.65479915e-02 9.92864264e-01 3.12487933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.022557844 meters Centerline goodness : 0.126733 with order 3 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.92967532e-01 -6.13002702e-03 -1.18228186e-01 -1.87580638e+01] [ 4.11412868e-03 9.99842097e-01 -1.72874415e-02 -1.84498867e-01] [ 1.18315490e-01 1.66794622e-02 9.92835958e-01 3.12664576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.082557844 meters Centerline goodness : 0.136428 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.92958595e-01 -6.18484044e-03 -1.18300368e-01 -1.87577918e+01] [ 4.14973211e-03 9.99839274e-01 -1.74414861e-02 -1.83647705e-01] [ 1.18389227e-01 1.68277587e-02 9.92824666e-01 3.12560658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.142557844 meters Centerline goodness : 0.143374 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.93065275e-01 -6.17870173e-03 -1.17401803e-01 -1.87601837e+01] [ 4.11817394e-03 9.99833343e-01 -1.77855572e-02 -1.81332683e-01] [ 1.17492128e-01 1.71787382e-02 9.92925219e-01 3.12544257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.202557844 meters Centerline goodness : 0.136840 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.93099484e-01 -6.22361510e-03 -1.17109701e-01 -1.87611030e+01] [ 4.14955040e-03 9.99830348e-01 -1.79459334e-02 -1.80210397e-01] [ 1.17201521e-01 1.73361446e-02 9.92956828e-01 3.12680539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.262557844 meters Centerline goodness : 0.238345 with order 3 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.93060394e-01 -6.38429311e-03 -1.17432085e-01 -1.87598243e+01] [ 4.28150368e-03 9.99826108e-01 -1.81499903e-02 -1.79739171e-01] [ 1.17527539e-01 1.75212506e-02 9.92915043e-01 3.12130974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.322557844 meters Centerline goodness : 0.136405 with order 1 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.93092735e-01 -6.38724375e-03 -1.17158107e-01 -1.87608122e+01] [ 4.28753947e-03 9.99825805e-01 -1.81652544e-02 -1.79543239e-01] [ 1.17253725e-01 1.75374622e-02 9.92947129e-01 3.12419244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.382557844 meters Centerline goodness : 0.116680 with order 2 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.18, Z:0.31 [[ 9.93158018e-01 -6.30568612e-03 -1.16607843e-01 -1.87629459e+01] [ 4.23725539e-03 9.99829409e-01 -1.79777467e-02 -1.80112068e-01] [ 1.16701313e-01 1.73606461e-02 9.93015313e-01 3.13272402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.442557844 meters Centerline goodness : 0.139626 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.19, Z:0.31 [[ 9.93100061e-01 1.30318426e-03 -1.17262825e-01 -1.87823825e+01] [-3.55422271e-03 9.99813367e-01 -1.89894603e-02 -1.85969469e-01] [ 1.17216193e-01 1.92752123e-02 9.92919347e-01 3.09611177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.502557844 meters Centerline goodness : 0.117941 with order 2 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.18, Z:0.31 [[ 9.93096256e-01 1.31114614e-03 -1.17294958e-01 -1.87821599e+01] [-3.58325443e-03 9.99809969e-01 -1.91621160e-02 -1.84770384e-01] [ 1.17247544e-01 1.94501233e-02 9.92912235e-01 3.09388454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.562557844 meters Centerline goodness : 0.116736 with order 2 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.18, Z:0.31 [[ 9.93119282e-01 1.32405018e-03 -1.17099698e-01 -1.87825331e+01] [-3.62951038e-03 9.99803718e-01 -1.94769626e-02 -1.82826787e-01] [ 1.17050925e-01 1.97679617e-02 9.92929156e-01 3.09161031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.622557844 meters Centerline goodness : 0.133735 with order 3 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.18, Z:0.31 [[ 9.93066399e-01 1.42301303e-03 -1.17546168e-01 -1.87809223e+01] [-3.76243933e-03 9.99799198e-01 -1.96826900e-02 -1.81092679e-01] [ 1.17494556e-01 1.99884785e-02 9.92872343e-01 3.08462714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.68255784400003 meters Centerline goodness : 0.150531 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.18, Z:0.31 [[ 9.93042542e-01 1.49392389e-03 -1.17746667e-01 -1.87801593e+01] [-3.83643389e-03 9.99799159e-01 -1.96703505e-02 -1.81108201e-01] [ 1.17693633e-01 1.99852222e-02 9.92848830e-01 3.08100295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74255784400003 meters Centerline goodness : 0.120439 with order 3 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.18, Z:0.31 [[ 9.93069962e-01 1.55168008e-03 -1.17514434e-01 -1.87814180e+01] [-3.84983872e-03 9.99805709e-01 -1.93319282e-02 -1.83392079e-01] [ 1.17461605e-01 1.96503688e-02 9.92882991e-01 3.08912625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.802557844 meters Centerline goodness : 0.141969 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.19, Z:0.31 [[ 9.93062390e-01 1.71510402e-03 -1.17576133e-01 -1.87810302e+01] [-3.95530243e-03 9.99815018e-01 -1.88224879e-02 -1.86039923e-01] [ 1.17522101e-01 1.91569540e-02 9.92885475e-01 3.08617460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.862557844 meters Centerline goodness : 0.153776 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.19, Z:0.31 [[ 9.93011810e-01 -3.00081579e-04 -1.18014641e-01 -1.87780877e+01] [-2.08621756e-03 9.99795872e-01 -2.00963116e-02 -1.91153647e-01] [ 1.17996581e-01 2.02020790e-02 9.92808482e-01 3.07104256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.922557844 meters Centerline goodness : 0.139963 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.19, Z:0.31 [[ 9.92952680e-01 -1.21714256e-04 -1.18511437e-01 -1.87761923e+01] [-2.21487187e-03 9.99805758e-01 -1.95842159e-02 -1.93942027e-01] [ 1.18490801e-01 1.97086874e-02 9.92759537e-01 3.06335343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.982557844 meters Centerline goodness : 0.116707 with order 2 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.19, Z:0.31 [[ 9.92949755e-01 -2.57872471e-05 -1.18536003e-01 -1.87760854e+01] [-2.29844784e-03 9.99807778e-01 -1.94710927e-02 -1.94357629e-01] [ 1.18513720e-01 1.96062656e-02 9.92758829e-01 3.06244454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.042557844 meters Centerline goodness : 0.138380 with order 1 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.20, Z:0.30 [[ 9.93205627e-01 7.26956354e-03 -1.16145319e-01 -1.87981449e+01] [-9.61286563e-03 9.99761134e-01 -1.96282137e-02 -2.01798481e-01] [ 1.15974888e-01 2.06113417e-02 9.93038266e-01 3.03296799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.102557844 meters Centerline goodness : 0.219954 with order 2 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.20, Z:0.31 [[ 9.93634561e-01 3.04712065e-04 -1.12651083e-01 -1.87803299e+01] [-2.37502829e-03 9.99830737e-01 -1.82443847e-02 -2.00025792e-01] [ 1.12626456e-01 1.83958007e-02 9.93467099e-01 3.05991351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.162557844 meters Centerline goodness : 0.133831 with order 3 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.20, Z:0.30 [[ 9.93607256e-01 2.80547339e-04 -1.12891726e-01 -1.87789248e+01] [-2.36145396e-03 9.99829762e-01 -1.82994652e-02 -1.99983366e-01] [ 1.12867374e-01 1.84490700e-02 9.93438769e-01 3.04962440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.222557844 meters Centerline goodness : 0.151795 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.20, Z:0.30 [[ 9.93605800e-01 3.42009728e-04 -1.12904368e-01 -1.87786267e+01] [-2.42565100e-03 9.99829268e-01 -1.83180651e-02 -1.99478006e-01] [ 1.12878827e-01 1.84748023e-02 9.93436990e-01 3.04550767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.282557844 meters Centerline goodness : 0.135702 with order 3 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.20, Z:0.31 [[ 9.93639017e-01 3.40847192e-04 -1.12611664e-01 -1.87797676e+01] [-2.43709507e-03 9.99826302e-01 -1.84777020e-02 -1.98374296e-01] [ 1.12585805e-01 1.86346110e-02 9.93467255e-01 3.05018195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.342557844 meters Centerline goodness : 0.136582 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.19, Z:0.30 [[ 9.93531309e-01 -1.19492182e-05 -1.13558518e-01 -1.87762891e+01] [-2.20588137e-03 9.99809279e-01 -1.94046135e-02 -1.94039338e-01] [ 1.13537091e-01 1.95295877e-02 9.93341796e-01 3.03553595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.402557844 meters Centerline goodness : 0.151731 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.19, Z:0.30 [[ 9.93507366e-01 -3.70691345e-06 -1.13767806e-01 -1.87752861e+01] [-2.27778932e-03 9.99798903e-01 -1.99239724e-02 -1.89607453e-01] [ 1.13745002e-01 2.00537524e-02 9.93307566e-01 3.02897603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.462557844 meters Centerline goodness : 0.134878 with order 3 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.19, Z:0.30 [[ 9.93499816e-01 -3.22187856e-04 -1.13833265e-01 -1.87750845e+01] [-2.02749980e-03 9.99787282e-01 -2.05251074e-02 -1.86769712e-01] [ 1.13815664e-01 2.06224874e-02 9.93287827e-01 3.02833586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.522557844 meters Centerline goodness : 0.141065 with order 1 Centerline is valid? [False, False] Translation: X:-18.77, Y:-0.19, Z:0.30 [[ 9.93419763e-01 -1.50557093e-03 -1.14520335e-01 -1.87732889e+01] [-9.37924485e-04 9.99773117e-01 -2.12799069e-02 -1.86494736e-01] [ 1.14526390e-01 2.12472915e-02 9.93192961e-01 3.02874851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.582557844 meters Centerline goodness : 0.139750 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.19, Z:0.30 [[ 9.93464710e-01 -5.07923314e-03 -1.14026624e-01 -1.87756843e+01] [ 2.34599757e-03 9.99707004e-01 -2.40915591e-02 -1.89249139e-01] [ 1.14115581e-01 2.36666076e-02 9.93185545e-01 3.03972846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.642557844 meters Centerline goodness : 0.138754 with order 3 Centerline is valid? [False, False] Translation: X:-18.76, Y:-0.19, Z:0.31 [[ 9.93654185e-01 -1.49261552e-02 -1.11483503e-01 -1.87562811e+01] [ 1.23205169e-02 9.99635438e-01 -2.40249042e-02 -1.93012456e-01] [ 1.11801460e-01 2.24989122e-02 9.93475834e-01 3.06658728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.702557844 meters Centerline goodness : 0.122808 with order 3 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.20, Z:0.30 [[ 9.93368980e-01 -1.73857323e-02 -1.13647724e-01 -1.88018654e+01] [ 1.47207132e-02 9.99597607e-01 -2.42471780e-02 -2.03152263e-01] [ 1.14023548e-01 2.24134189e-02 9.93225186e-01 3.03056723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.762557844 meters Centerline goodness : 0.140943 with order 3 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.21, Z:0.30 [[ 9.93326067e-01 -2.09219881e-02 -1.13426607e-01 -1.88022242e+01] [ 1.80076411e-02 9.99482410e-01 -2.66577643e-02 -2.10101949e-01] [ 1.13925632e-01 2.44373065e-02 9.93188687e-01 3.03030864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.822557844 meters Centerline goodness : 0.144278 with order 1 Centerline is valid? [False, False] Translation: X:-18.82, Y:-0.22, Z:0.30 [[ 9.93607394e-01 -1.29140693e-02 -1.12149785e-01 -1.88219352e+01] [ 1.00562459e-02 9.99611084e-01 -2.60106295e-02 -2.22131258e-01] [ 1.12442072e-01 2.47165480e-02 9.93350831e-01 2.99182698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.882557844 meters Centerline goodness : 0.136529 with order 3 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.23, Z:0.30 [[ 9.93629865e-01 -4.04117166e-03 -1.12620426e-01 -1.88016984e+01] [ 1.08088991e-03 9.99652612e-01 -2.63341511e-02 -2.31927136e-01] [ 1.12687724e-01 2.60446687e-02 9.93289058e-01 3.02586419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.942557844 meters Centerline goodness : 0.139959 with order 1 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.24, Z:0.30 [[ 9.93651015e-01 -3.10300257e-03 -1.12463473e-01 -1.88028302e+01] [ 2.93962649e-04 9.99687775e-01 -2.49853341e-02 -2.39791512e-01] [ 1.12505889e-01 2.47936426e-02 9.93341684e-01 3.03226087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.002557844 meters Centerline goodness : 0.147542 with order 1 Centerline is valid? [False, False] Translation: X:-18.78, Y:-0.25, Z:0.31 [[ 9.93706823e-01 5.66740729e-03 -1.11868812e-01 -1.87845820e+01] [-8.58389249e-03 9.99635254e-01 -2.56061752e-02 -2.50461686e-01] [ 1.11682888e-01 2.64053009e-02 9.93393020e-01 3.07059644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.062557844 meters Centerline goodness : 0.315854 with order 1 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.25, Z:0.30 [[ 9.93576434e-01 -2.65956766e-03 -1.13131764e-01 -1.88043410e+01] [-4.62518278e-05 9.99714160e-01 -2.39080703e-02 -2.49343523e-01] [ 1.13163012e-01 2.37597278e-02 9.93292307e-01 3.04140672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.122557844 meters Centerline goodness : 0.144933 with order 2 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.25, Z:0.30 [[ 9.93529834e-01 -2.52010315e-03 -1.13543466e-01 -1.88029888e+01] [-1.58849694e-04 9.99721968e-01 -2.35788504e-02 -2.51578316e-01] [ 1.13571318e-01 2.34443277e-02 9.93253200e-01 3.03832311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.18255784400003 meters Centerline goodness : 0.134043 with order 1 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.25, Z:0.30 [[ 9.93479887e-01 -2.34246083e-03 -1.13983449e-01 -1.88015537e+01] [-3.05868734e-04 9.99730535e-01 -2.32113001e-02 -2.53647913e-01] [ 1.14007106e-01 2.30948238e-02 9.93211462e-01 3.03449999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24255784400003 meters Centerline goodness : 0.150195 with order 1 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.25, Z:0.30 [[ 9.93493966e-01 -1.97398841e-03 -1.13867652e-01 -1.88013286e+01] [-6.23818741e-04 9.99740441e-01 -2.27741254e-02 -2.54494940e-01] [ 1.13883053e-01 2.26969889e-02 9.93234865e-01 3.02750181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.302557844 meters Centerline goodness : 0.135963 with order 1 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.25, Z:0.30 [[ 9.93488921e-01 -2.07478076e-03 -1.13909871e-01 -1.88011048e+01] [-5.62330248e-04 9.99732681e-01 -2.31138441e-02 -2.52471594e-01] [ 1.13927377e-01 2.30274030e-02 9.93222176e-01 3.02557753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.362557844 meters Centerline goodness : 0.129738 with order 1 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.25, Z:0.30 [[ 9.93537049e-01 -2.07397525e-03 -1.13489340e-01 -1.88019958e+01] [-5.96337263e-04 9.99723890e-01 -2.34901866e-02 -2.49365752e-01] [ 1.13506722e-01 2.34060486e-02 9.93261487e-01 3.02217388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.422557844 meters Centerline goodness : 0.264604 with order 3 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.25, Z:0.30 [[ 9.93603908e-01 -2.32288109e-03 -1.12897644e-01 -1.88036779e+01] [-4.10791885e-04 9.99707429e-01 -2.41844365e-02 -2.45611579e-01] [ 1.12920791e-01 2.40761280e-02 9.93312255e-01 3.02390218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.482557844 meters Centerline goodness : 0.142376 with order 3 Centerline is valid? [False, False] Translation: X:-18.85, Y:-0.24, Z:0.30 [[ 9.93330049e-01 -3.17091133e-03 -1.15262133e-01 -1.88500492e+01] [ 3.53583370e-04 9.99700869e-01 -2.44550205e-02 -2.40277981e-01] [ 1.15305199e-01 2.42511520e-02 9.93034034e-01 2.99261640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.542557844 meters Centerline goodness : 0.123143 with order 3 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.23, Z:0.30 [[ 9.92975058e-01 -6.35458497e-03 -1.18153095e-01 -1.88299615e+01] [ 3.84091455e-03 9.99761680e-01 -2.14902385e-02 -2.30910974e-01] [ 1.18261498e-01 2.08854549e-02 9.92762820e-01 3.03129000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.602557844 meters Centerline goodness : 0.223693 with order 3 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.23, Z:0.30 [[ 9.92982292e-01 -6.85563167e-03 -1.18064253e-01 -1.88303519e+01] [ 4.23408884e-03 9.99739205e-01 -2.24409034e-02 -2.26470257e-01] [ 1.18187309e-01 2.17835252e-02 9.92752355e-01 3.03285635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.662557844 meters Centerline goodness : 0.228949 with order 3 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.23, Z:0.30 [[ 9.92978140e-01 -7.12583810e-03 -1.18083172e-01 -1.88305824e+01] [ 4.46082816e-03 9.99729686e-01 -2.28178749e-02 -2.25029561e-01] [ 1.18213849e-01 2.21309023e-02 9.92741512e-01 3.03612133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.722557844 meters Centerline goodness : 0.137910 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.23, Z:0.30 [[ 9.93033661e-01 -7.59278850e-03 -1.17586133e-01 -1.88324114e+01] [ 4.94807548e-03 9.99728546e-01 -2.27673267e-02 -2.26532129e-01] [ 1.17727081e-01 2.20268967e-02 9.92801667e-01 3.04362015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.782557844 meters Centerline goodness : 0.141993 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.23, Z:0.30 [[ 9.92941668e-01 -8.13603474e-03 -1.18324336e-01 -1.88302340e+01] [ 5.49184927e-03 9.99728239e-01 -2.26558441e-02 -2.29942512e-01] [ 1.18476509e-01 2.18461122e-02 9.92716507e-01 3.04194772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.842557844 meters Centerline goodness : 0.145288 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.23, Z:0.30 [[ 9.92876528e-01 -8.33877156e-03 -1.18855649e-01 -1.88284982e+01] [ 5.72977587e-03 9.99735444e-01 -2.22758072e-02 -2.33714374e-01] [ 1.19009958e-01 2.14361099e-02 9.92661636e-01 3.03847523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.902557844 meters Centerline goodness : 0.137273 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.24, Z:0.30 [[ 9.92894780e-01 -7.91924942e-03 -1.18731805e-01 -1.88284396e+01] [ 5.41168366e-03 9.99755766e-01 -2.14271384e-02 -2.37649084e-01] [ 1.18872493e-01 2.06323549e-02 9.92695138e-01 3.03348389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.962557844 meters Centerline goodness : 0.141114 with order 2 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.24, Z:0.30 [[ 9.92856802e-01 -7.77915372e-03 -1.19058202e-01 -1.88278072e+01] [ 5.30032431e-03 9.99762838e-01 -2.11228266e-02 -2.39388091e-01] [ 1.19194284e-01 2.03408950e-02 9.92662566e-01 3.03616764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.022557844 meters Centerline goodness : 0.145345 with order 3 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.24, Z:0.30 [[ 9.92881369e-01 -7.41151165e-03 -1.18876649e-01 -1.88286582e+01] [ 5.02473341e-03 9.99779986e-01 -2.03649485e-02 -2.42810340e-01] [ 1.19001429e-01 1.96226545e-02 9.92700162e-01 3.04047721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.082557844 meters Centerline goodness : 0.143728 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.25, Z:0.30 [[ 9.92922429e-01 -7.32726966e-03 -1.18538436e-01 -1.88296904e+01] [ 4.99222875e-03 9.99787845e-01 -1.99835542e-02 -2.45234811e-01] [ 1.18659712e-01 1.92503482e-02 9.92748355e-01 3.04246614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.142557844 meters Centerline goodness : 0.249777 with order 3 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.25, Z:0.30 [[ 9.92884168e-01 -7.27085436e-03 -1.18861953e-01 -1.88288114e+01] [ 4.95064476e-03 9.99791628e-01 -1.98038352e-02 -2.46528861e-01] [ 1.18981176e-01 1.90744711e-02 9.92713274e-01 3.04212804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.202557844 meters Centerline goodness : 0.137801 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.25, Z:0.30 [[ 9.92863739e-01 -7.13534494e-03 -1.19040673e-01 -1.88282355e+01] [ 4.83050132e-03 9.99795464e-01 -1.96391356e-02 -2.47135689e-01] [ 1.19156457e-01 1.89239594e-02 9.92695131e-01 3.04055129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.262557844 meters Centerline goodness : 0.121605 with order 3 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.25, Z:0.30 [[ 9.92818703e-01 -7.01363470e-03 -1.19422910e-01 -1.88270109e+01] [ 4.72512660e-03 9.99799948e-01 -1.94354462e-02 -2.48293866e-01] [ 1.19535333e-01 1.87315862e-02 9.92653228e-01 3.03784044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.322557844 meters Centerline goodness : 0.157575 with order 3 Centerline is valid? [False, False] Translation: X:-18.85, Y:-0.26, Z:0.30 [[ 9.92871200e-01 4.86602937e-04 -1.19191203e-01 -1.88467757e+01] [-2.89501973e-03 9.99795108e-01 -2.00340161e-02 -2.56414920e-01] [ 1.19157033e-01 2.02362585e-02 9.92669177e-01 2.99971721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.382557844 meters Centerline goodness : 0.129767 with order 3 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.31 [[ 9.93244361e-01 4.92657517e-04 -1.16040497e-01 -1.88075193e+01] [-2.96103040e-03 9.99772981e-01 -2.11002291e-02 -2.57894834e-01] [ 1.16003758e-01 2.13012830e-02 9.93020334e-01 3.05847802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.442557844 meters Centerline goodness : 0.123177 with order 3 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.31 [[ 9.93249579e-01 7.04362602e-04 -1.15994734e-01 -1.88073955e+01] [-3.13245328e-03 9.99779751e-01 -2.07518079e-02 -2.59343737e-01] [ 1.15954569e-01 2.09750726e-02 9.93033023e-01 3.05483005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.502557844 meters Centerline goodness : 0.226584 with order 3 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.31 [[ 9.93254774e-01 9.38725237e-04 -1.15948579e-01 -1.88072930e+01] [-3.33979906e-03 9.99783956e-01 -2.05155505e-02 -2.60171731e-01] [ 1.15904270e-01 2.07644134e-02 9.93043322e-01 3.05173265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.562557844 meters Centerline goodness : 0.134371 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.31 [[ 9.93259309e-01 1.04018751e-03 -1.15908856e-01 -1.88074435e+01] [-3.44944657e-03 9.99782111e-01 -2.05871590e-02 -2.59247189e-01] [ 1.15862187e-01 2.08482087e-02 9.93046477e-01 3.05184042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.622557844 meters Centerline goodness : 0.135278 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.31 [[ 9.93315328e-01 1.16962933e-03 -1.15426560e-01 -1.88089259e+01] [-3.57417353e-03 9.99780851e-01 -2.06270406e-02 -2.58286657e-01] [ 1.15377139e-01 2.09017102e-02 9.93101825e-01 3.05385396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.68255784400003 meters Centerline goodness : 0.129273 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.31 [[ 9.93366557e-01 1.19740373e-03 -1.14984565e-01 -1.88100934e+01] [-3.59965932e-03 9.99779529e-01 -2.06866151e-02 -2.57619520e-01] [ 1.14934444e-01 2.09632969e-02 9.93151858e-01 3.05319421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74255784400003 meters Centerline goodness : 0.149449 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.31 [[ 9.93305291e-01 9.93619758e-04 -1.15514548e-01 -1.88084600e+01] [-3.39943093e-03 9.99781363e-01 -2.06317755e-02 -2.58825633e-01] [ 1.15468792e-01 2.08863355e-02 9.93091496e-01 3.05001840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.802557844 meters Centerline goodness : 0.137539 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.31 [[ 9.93250099e-01 7.39993113e-04 -1.15990053e-01 -1.88072516e+01] [-3.11971908e-03 9.99788326e-01 -2.03364406e-02 -2.61596034e-01] [ 1.15950452e-01 2.05610280e-02 9.93042163e-01 3.05115027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.862557844 meters Centerline goodness : 0.132731 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.31 [[ 9.93234985e-01 9.14283905e-04 -1.16118167e-01 -1.88070733e+01] [-3.24942191e-03 9.99796251e-01 -1.99223082e-02 -2.63808114e-01] [ 1.16076293e-01 2.01648504e-02 9.93035585e-01 3.05321928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.922557844 meters Centerline goodness : 0.139402 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.30 [[ 9.93217193e-01 1.01237466e-03 -1.16269444e-01 -1.88063462e+01] [-3.32603001e-03 9.99800270e-01 -1.97067919e-02 -2.64931061e-01] [ 1.16226270e-01 1.99598402e-02 9.93022184e-01 3.04882399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.982557844 meters Centerline goodness : 0.133961 with order 3 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.27, Z:0.30 [[ 9.93170928e-01 1.15030907e-03 -1.16662694e-01 -1.88040651e+01] [-3.40254166e-03 9.99811632e-01 -1.91081913e-02 -2.70361274e-01] [ 1.16618738e-01 1.93746498e-02 9.92987761e-01 3.03534279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.042557844 meters Centerline goodness : 0.137806 with order 1 Centerline is valid? [False, False] Translation: X:-18.80, Y:-0.27, Z:0.30 [[ 9.93172755e-01 1.54087879e-03 -1.16642635e-01 -1.88045334e+01] [-3.69696947e-03 9.99826246e-01 -1.82704917e-02 -2.74826511e-01] [ 1.16594215e-01 1.85769788e-02 9.93005884e-01 3.04049689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.102557844 meters Centerline goodness : 0.134692 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.28, Z:0.30 [[ 9.93205762e-01 2.02259804e-03 -1.16353869e-01 -1.88054713e+01] [-4.07361335e-03 9.99840444e-01 -1.73922961e-02 -2.79246257e-01] [ 1.16300126e-01 1.77481093e-02 9.93055530e-01 3.04291649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.162557844 meters Centerline goodness : 0.191800 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.28, Z:0.30 [[ 9.93267143e-01 2.52566957e-03 -1.15818837e-01 -1.88064943e+01] [-4.50961443e-03 9.99847507e-01 -1.68708950e-02 -2.80528043e-01] [ 1.15758565e-01 1.72796039e-02 9.93127066e-01 3.03733756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.222557844 meters Centerline goodness : 0.218967 with order 3 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.28, Z:0.30 [[ 9.93273840e-01 2.93768430e-03 -1.15751670e-01 -1.88065709e+01] [-4.89733900e-03 9.99849401e-01 -1.66490629e-02 -2.80849838e-01] [ 1.15685328e-01 1.71039538e-02 9.93138641e-01 3.03564936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.282557844 meters Centerline goodness : 0.185994 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.28, Z:0.30 [[ 9.93255280e-01 2.97803732e-03 -1.15909794e-01 -1.88060129e+01] [-4.95888492e-03 9.99846490e-01 -1.68049515e-02 -2.79786920e-01] [ 1.15841955e-01 1.72663901e-02 9.93117573e-01 3.03292129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.342557844 meters Centerline goodness : 0.126610 with order 2 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.28, Z:0.30 [[ 9.93410182e-01 3.80291276e-03 -1.14550195e-01 -1.88101179e+01] [-5.72429563e-03 9.99848320e-01 -1.64490129e-02 -2.78122178e-01] [ 1.14470266e-01 1.69963361e-02 9.93281271e-01 3.03781293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.402557844 meters Centerline goodness : 0.127985 with order 3 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.27, Z:0.30 [[ 9.93478112e-01 3.80894152e-03 -1.13959350e-01 -1.88118627e+01] [-5.76647612e-03 9.99841353e-01 -1.68527687e-02 -2.74989905e-01] [ 1.13877079e-01 1.74000007e-02 9.93342464e-01 3.03927189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.462557844 meters Centerline goodness : 0.121219 with order 2 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.27, Z:0.30 [[ 9.93403839e-01 7.63389351e-03 -1.14413883e-01 -1.88105719e+01] [-9.28907408e-03 9.99859679e-01 -1.39404371e-02 -2.70132950e-01] [ 1.14291408e-01 1.49112828e-02 9.93335355e-01 3.03836039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.522557844 meters Centerline goodness : 0.123000 with order 3 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.27, Z:0.30 [[ 9.93396754e-01 7.20500201e-03 -1.14503175e-01 -1.88102083e+01] [-8.95994168e-03 9.99850043e-01 -1.48192870e-02 -2.65838993e-01] [ 1.14379232e-01 1.57473733e-02 9.93312343e-01 3.03598207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.582557844 meters Centerline goodness : 0.123443 with order 3 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.30 [[ 9.93413597e-01 6.93457752e-03 -1.14373673e-01 -1.88112807e+01] [-8.74482663e-03 9.99844196e-01 -1.53333590e-02 -2.63175634e-01] [ 1.14249523e-01 1.62325453e-02 9.93319461e-01 3.04505210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.642557844 meters Centerline goodness : 0.249193 with order 3 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.30 [[ 9.93402269e-01 6.55780173e-03 -1.14494227e-01 -1.88109078e+01] [-8.41720394e-03 9.99840307e-01 -1.57642446e-02 -2.61248383e-01] [ 1.14372564e-01 1.66239576e-02 9.93298827e-01 3.04389129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.702557844 meters Centerline goodness : 0.129102 with order 1 Centerline is valid? [False, False] Translation: X:-18.81, Y:-0.26, Z:0.30 [[ 9.93355648e-01 6.18916891e-03 -1.14918451e-01 -1.88094373e+01] [-8.09104951e-03 9.99837798e-01 -1.60907557e-02 -2.60551274e-01] [ 1.14800223e-01 1.69136539e-02 9.93244601e-01 3.03994063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.762557844 meters Centerline goodness : 0.131677 with order 3 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.25, Z:0.30 [[ 9.93282735e-01 -3.23992214e-03 -1.15667248e-01 -1.88300828e+01] [ 1.44817287e-03 9.99877712e-01 -1.55712258e-02 -2.54322833e-01] [ 1.15703552e-01 1.52991235e-02 9.93165960e-01 3.01097959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.822557844 meters Centerline goodness : 0.130465 with order 1 Centerline is valid? [False, False] Translation: X:-18.83, Y:-0.25, Z:0.30 [[ 9.93295284e-01 -3.53477932e-03 -1.15550787e-01 -1.88301400e+01] [ 1.65873602e-03 9.99865317e-01 -1.63277866e-02 -2.50200965e-01] [ 1.15592939e-01 1.60266451e-02 9.93167367e-01 3.00728691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.882557844 meters SLAMing on 479.942557844 meters Centerline goodness : 0.134218 with order 1 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.24, Z:0.30 [[ 9.93162882e-01 -3.32926224e-03 -1.16689357e-01 -1.88782431e+01] [ 1.47137770e-03 9.99870843e-01 -1.60041547e-02 -2.39143700e-01] [ 1.16727568e-01 1.57230383e-02 9.93039506e-01 2.97101479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.002557844 meters Centerline goodness : 0.125878 with order 1 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.24, Z:0.30 [[ 9.93140298e-01 -4.03100194e-03 -1.16859312e-01 -1.88778571e+01] [ 2.11969200e-03 9.99862026e-01 -1.64753171e-02 -2.38696783e-01] [ 1.16909600e-01 1.61145956e-02 9.93011815e-01 2.97242396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.062557844 meters Centerline goodness : 0.130423 with order 1 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.24, Z:0.30 [[ 9.93061865e-01 -7.48002566e-03 -1.17354934e-01 -1.88755691e+01] [ 5.28784674e-03 9.99805877e-01 -1.89801536e-02 -2.42289906e-01] [ 1.17474125e-01 1.82279118e-02 9.92908643e-01 2.96341946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.122557844 meters Centerline goodness : 0.128280 with order 1 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.24, Z:0.30 [[ 9.93109833e-01 -7.55405024e-03 -1.16943559e-01 -1.88770676e+01] [ 5.39609392e-03 9.99809480e-01 -1.87585973e-02 -2.43921253e-01] [ 1.17062982e-01 1.79983090e-02 9.92961389e-01 2.96975813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.18255784400003 meters Centerline goodness : 0.136579 with order 1 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.24, Z:0.30 [[ 9.93091690e-01 -3.44719172e-03 -1.17290293e-01 -1.88756626e+01] [ 1.66285176e-03 9.99881451e-01 -1.53074798e-02 -2.42425122e-01] [ 1.17329156e-01 1.50066946e-02 9.92979692e-01 2.96387969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24255784400003 meters Centerline goodness : 0.125155 with order 1 Centerline is valid? [False, False] Translation: X:-18.87, Y:-0.24, Z:0.30 [[ 9.93005095e-01 -2.39509465e-03 -1.18047215e-01 -1.88726656e+01] [ 6.18833087e-04 9.99886078e-01 -1.50814010e-02 -2.37493455e-01] [ 1.18069888e-01 1.49028565e-02 9.92893452e-01 2.95173147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.302557844 meters Centerline goodness : 0.125483 with order 1 Centerline is valid? [False, False] Translation: X:-18.87, Y:-0.23, Z:0.30 [[ 9.92970790e-01 1.23578811e-03 -1.18353213e-01 -1.88728644e+01] [-2.75184176e-03 9.99916237e-01 -1.26470068e-02 -2.31853362e-01] [ 1.18327671e-01 1.28837976e-02 9.92891016e-01 2.95962314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.362557844 meters Centerline goodness : 0.216294 with order 3 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.23, Z:0.30 [[ 9.93095342e-01 1.48674386e-03 -1.17300599e-01 -1.88756791e+01] [-3.00242694e-03 9.99914262e-01 -1.27457134e-02 -2.29643733e-01] [ 1.17271593e-01 1.30098951e-02 9.93014661e-01 2.95931219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.422557844 meters Centerline goodness : 0.126242 with order 1 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.23, Z:0.30 [[ 9.93130094e-01 1.31772310e-03 -1.17008031e-01 -1.88767522e+01] [-2.86153292e-03 9.99911050e-01 -1.30270423e-02 -2.28570259e-01] [ 1.16980457e-01 1.32723701e-02 9.93045526e-01 2.96247807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.482557844 meters Centerline goodness : 0.135374 with order 1 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.23, Z:0.30 [[ 9.93154342e-01 1.38519022e-03 -1.16801262e-01 -1.88772497e+01] [-2.92942167e-03 9.99910549e-01 -1.30503859e-02 -2.27700663e-01] [ 1.16772737e-01 1.33032076e-02 9.93069561e-01 2.96128555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.542557844 meters Centerline goodness : 0.117647 with order 3 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.23, Z:0.30 [[ 9.93178420e-01 1.12750163e-03 -1.16599118e-01 -1.88781625e+01] [-2.70539406e-03 9.99906887e-01 -1.33752500e-02 -2.27041798e-01] [ 1.16573180e-01 1.35994562e-02 9.93088993e-01 2.96596891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.602557844 meters Centerline goodness : 0.124573 with order 1 Centerline is valid? [False, False] Translation: X:-18.88, Y:-0.23, Z:0.30 [[ 9.93205187e-01 1.14885782e-03 -1.16370685e-01 -1.88786160e+01] [-2.74516540e-03 9.99904317e-01 -1.35580935e-02 -2.25173138e-01] [ 1.16343974e-01 1.37854256e-02 9.93113308e-01 2.96299267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.662557844 meters Centerline goodness : 0.114337 with order 2 Centerline is valid? [False, False] Translation: X:-18.93, Y:-0.22, Z:0.29 [[ 9.92945804e-01 1.58332861e-04 -1.18568988e-01 -1.89252099e+01] [-1.80533723e-03 9.99903375e-01 -1.37834057e-02 -2.24961468e-01] [ 1.18555349e-01 1.39002318e-02 9.92850146e-01 2.92112349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.722557844 meters Centerline goodness : 0.128401 with order 1 Centerline is valid? [False, False] Translation: X:-18.92, Y:-0.22, Z:0.29 [[ 9.92896672e-01 1.09678742e-04 -1.18979778e-01 -1.89237773e+01] [-1.82576284e-03 9.99895877e-01 -1.43144200e-02 -2.21030822e-01] [ 1.18965820e-01 1.44299689e-02 9.92793488e-01 2.91538403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.782557844 meters Centerline goodness : 0.122076 with order 1 Centerline is valid? [False, False] Translation: X:-18.92, Y:-0.22, Z:0.29 [[ 9.92874956e-01 3.90338883e-03 -1.19096954e-01 -1.89235258e+01] [-5.31445881e-03 9.99919373e-01 -1.15327798e-02 -2.15995306e-01] [ 1.19042335e-01 1.20835441e-02 9.92815648e-01 2.91575958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.842557844 meters Centerline goodness : 0.122780 with order 1 Centerline is valid? [False, False] Translation: X:-18.92, Y:-0.21, Z:0.29 [[ 9.92869017e-01 3.62756483e-03 -1.19155176e-01 -1.89234056e+01] [-5.10515803e-03 9.99913788e-01 -1.20976796e-02 -2.13461419e-01] [ 1.19101019e-01 1.26197172e-02 9.92801939e-01 2.91564854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.902557844 meters Centerline goodness : 0.121822 with order 1 Centerline is valid? [False, False] Translation: X:-18.92, Y:-0.21, Z:0.29 [[ 9.92846741e-01 3.70338381e-03 -1.19338320e-01 -1.89224664e+01] [-5.23831531e-03 9.99907513e-01 -1.25508972e-02 -2.05924644e-01] [ 1.19280802e-01 1.30862491e-02 9.92774315e-01 2.90950906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.962557844 meters Centerline goodness : 0.123469 with order 1 Centerline is valid? [False, False] Translation: X:-18.92, Y:-0.20, Z:0.29 [[ 9.92793694e-01 2.95587049e-03 -1.19799597e-01 -1.89202700e+01] [-4.65355861e-03 9.99892648e-01 -1.38937903e-02 -1.99053741e-01] [ 1.19745668e-01 1.43511619e-02 9.92700871e-01 2.89727974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.022557844 meters Centerline goodness : 0.237781 with order 3 Centerline is valid? [False, False] Translation: X:-18.92, Y:-0.20, Z:0.29 [[ 9.92782749e-01 2.28730682e-03 -1.19904888e-01 -1.89201926e+01] [-4.06342614e-03 9.99885590e-01 -1.45703338e-02 -1.96920548e-01] [ 1.19857843e-01 1.49524007e-02 9.92678459e-01 2.90001676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.082557844 meters Centerline goodness : 0.127081 with order 1 Centerline is valid? [False, False] Translation: X:-18.92, Y:-0.19, Z:0.29 [[ 9.92846760e-01 1.93430162e-03 -1.19379937e-01 -1.89224282e+01] [-3.75482989e-03 9.99880041e-01 -1.50268223e-02 -1.94425032e-01] [ 1.19336550e-01 1.53675832e-02 9.92734922e-01 2.91027184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.142557844 meters Centerline goodness : 0.126210 with order 1 Centerline is valid? [False, False] Translation: X:-18.91, Y:-0.18, Z:0.30 [[ 9.92893347e-01 -5.18383605e-03 -1.18894611e-01 -1.89061098e+01] [ 3.53053413e-03 9.99894187e-01 -1.41120246e-02 -1.82649238e-01] [ 1.18955185e-01 1.35919739e-02 9.92806589e-01 2.95619713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.202557844 meters Centerline goodness : 0.136312 with order 1 Centerline is valid? [False, False] Translation: X:-18.93, Y:-0.18, Z:0.29 [[ 9.92563165e-01 -1.36269981e-03 -1.21723073e-01 -1.89280893e+01] [-8.72391355e-04 9.99832034e-01 -1.83069191e-02 -1.79503395e-01] [ 1.21727574e-01 1.82769637e-02 9.92395259e-01 2.93251293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.262557844 meters Centerline goodness : 0.131586 with order 1 Centerline is valid? [False, False] Translation: X:-18.93, Y:-0.18, Z:0.29 [[ 9.92502238e-01 -1.81720186e-03 -1.22212950e-01 -1.89269799e+01] [-4.66779640e-04 9.99825828e-01 -1.86573125e-02 -1.78653036e-01] [ 1.22225568e-01 1.85744709e-02 9.92328524e-01 2.93477935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.322557844 meters Centerline goodness : 0.133807 with order 1 Centerline is valid? [False, False] Translation: X:-18.95, Y:-0.18, Z:0.29 [[ 9.92420218e-01 -1.18913753e-02 -1.22313964e-01 -1.89492423e+01] [ 9.69796752e-03 9.99781597e-01 -1.85123517e-02 -1.76818259e-01] [ 1.22507388e-01 1.71858353e-02 9.92318793e-01 2.90851604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.382557844 meters Centerline goodness : 0.198189 with order 3 Centerline is valid? [False, False] Translation: X:-18.95, Y:-0.18, Z:0.29 [[ 9.92473335e-01 -1.26212981e-02 -1.21808797e-01 -1.89505208e+01] [ 1.04361834e-02 9.99773276e-01 -1.85602590e-02 -1.78400784e-01] [ 1.22015435e-01 1.71493432e-02 9.92380035e-01 2.90878437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.442557844 meters Centerline goodness : 0.134769 with order 1 Centerline is valid? [False, False] Translation: X:-18.95, Y:-0.18, Z:0.29 [[ 9.92524832e-01 -1.29310275e-02 -1.21355866e-01 -1.89519043e+01] [ 1.07675072e-02 9.99771493e-01 -1.84667991e-02 -1.80000005e-01] [ 1.21566930e-01 1.70220565e-02 9.92437268e-01 2.91148944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.502557844 meters Centerline goodness : 0.137263 with order 1 Centerline is valid? [False, False] Translation: X:-18.97, Y:-0.19, Z:0.29 [[ 9.92657237e-01 -6.96526440e-03 -1.20760483e-01 -1.89676706e+01] [ 4.62013957e-03 9.99795482e-01 -1.96887660e-02 -1.88278807e-01] [ 1.20872923e-01 1.89862658e-02 9.92486402e-01 2.86402731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.562557844 meters Centerline goodness : 0.134427 with order 1 Centerline is valid? [False, False] Translation: X:-18.97, Y:-0.19, Z:0.29 [[ 9.92647636e-01 -6.87314173e-03 -1.20844654e-01 -1.89674079e+01] [ 4.57694369e-03 9.99803868e-01 -1.92685507e-02 -1.90760160e-01] [ 1.20953388e-01 1.85737822e-02 9.92484404e-01 2.86330369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.622557844 meters Centerline goodness : 0.125923 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.19, Z:0.28 [[ 9.92254748e-01 -7.67803569e-03 -1.23982108e-01 -1.90115398e+01] [ 5.34862903e-03 9.99803077e-01 -1.91101862e-02 -1.94199434e-01] [ 1.24104421e-01 1.82990386e-02 9.92100417e-01 2.81530384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.68255784400003 meters Centerline goodness : 0.125000 with order 1 Centerline is valid? [False, False] Translation: X:-19.03, Y:-0.20, Z:0.28 [[ 9.92182715e-01 -2.63547658e-04 -1.24793394e-01 -1.90296579e+01] [-2.30592224e-03 9.99788322e-01 -2.04448968e-02 -1.98874265e-01] [ 1.24772366e-01 2.05728371e-02 9.91972084e-01 2.77596544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74255784400003 meters Centerline goodness : 0.107201 with order 3 Centerline is valid? [False, False] Translation: X:-19.03, Y:-0.20, Z:0.28 [[ 9.92231281e-01 -3.88290036e-04 -1.24406328e-01 -1.90311584e+01] [-2.16827412e-03 9.99789260e-01 -2.04140548e-02 -1.99433354e-01] [ 1.24388038e-01 2.05252108e-02 9.92021336e-01 2.78137553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.802557844 meters Centerline goodness : 0.139601 with order 1 Centerline is valid? [False, False] Translation: X:-19.03, Y:-0.20, Z:0.28 [[ 9.92157574e-01 -7.86157391e-04 -1.24990924e-01 -1.90288677e+01] [-1.75301080e-03 9.99794351e-01 -2.02035363e-02 -2.01369545e-01] [ 1.24981103e-01 2.02642020e-02 9.91952159e-01 2.76788080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.862557844 meters Centerline goodness : 0.138847 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.20, Z:0.28 [[ 9.91992901e-01 -9.58364969e-03 -1.25929499e-01 -1.90060493e+01] [ 7.09925185e-03 9.99771511e-01 -2.01624920e-02 -1.98757286e-01] [ 1.26093955e-01 1.91070437e-02 9.91834278e-01 2.79711077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.922557844 meters Centerline goodness : 0.193277 with order 3 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.20, Z:0.28 [[ 9.91993451e-01 -9.75999048e-03 -1.25911619e-01 -1.90061426e+01] [ 7.32869622e-03 9.99777924e-01 -1.97583384e-02 -2.01036033e-01] [ 1.26076498e-01 1.86773743e-02 9.91844682e-01 2.79289030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.982557844 meters Centerline goodness : 0.138222 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.20, Z:0.28 [[ 9.91955693e-01 -9.66242546e-03 -1.26216249e-01 -1.90050675e+01] [ 7.24914601e-03 9.99782296e-01 -1.95655494e-02 -2.01800381e-01] [ 1.26377822e-01 1.84931980e-02 9.91809784e-01 2.78917483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.042557844 meters Centerline goodness : 0.142415 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.20, Z:0.28 [[ 9.92068845e-01 -9.79147549e-03 -1.25313738e-01 -1.90085069e+01] [ 7.43915589e-03 9.99787494e-01 -1.92256650e-02 -2.03760333e-01] [ 1.25475356e-01 1.81409548e-02 9.91930865e-01 2.79792167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.102557844 meters Centerline goodness : 0.226549 with order 3 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.20, Z:0.28 [[ 9.92205115e-01 -1.02893949e-02 -1.24189929e-01 -1.90125519e+01] [ 7.93327359e-03 9.99779325e-01 -1.94515749e-02 -2.03919537e-01] [ 1.24362668e-01 1.83147194e-02 9.92067789e-01 2.80890311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.162557844 meters Centerline goodness : 0.215624 with order 3 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.20, Z:0.28 [[ 9.92190754e-01 -1.03478433e-02 -1.24299759e-01 -1.90120213e+01] [ 7.96748267e-03 9.99775526e-01 -1.96320397e-02 -2.02812603e-01] [ 1.24475006e-01 1.84883721e-02 9.92050479e-01 2.80597772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.222557844 meters Centerline goodness : 0.232645 with order 3 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.20, Z:0.28 [[ 9.92283211e-01 -6.82229320e-03 -1.23804220e-01 -1.90142851e+01] [ 4.79002761e-03 9.99848981e-01 -1.67053993e-02 -1.99918102e-01] [ 1.23899492e-01 1.59834616e-02 9.92166037e-01 2.81471740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.282557844 meters Centerline goodness : 0.230370 with order 3 Centerline is valid? [False, False] Translation: X:-19.02, Y:-0.19, Z:0.28 [[ 9.92322158e-01 -3.92387704e-03 -1.23617708e-01 -1.90158052e+01] [ 2.12774818e-03 9.99890296e-01 -1.46583764e-02 -1.94789163e-01] [ 1.23661665e-01 1.42828044e-02 9.92221646e-01 2.82578536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.342557844 meters Centerline goodness : 0.260051 with order 3 Centerline is valid? [False, False] Translation: X:-19.02, Y:-0.19, Z:0.28 [[ 9.92341540e-01 -4.28817231e-03 -1.23449907e-01 -1.90162349e+01] [ 2.42373099e-03 9.99880789e-01 -1.52490367e-02 -1.92355260e-01] [ 1.23500581e-01 1.48330432e-02 9.92233635e-01 2.82524681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.402557844 meters Centerline goodness : 0.122760 with order 3 Centerline is valid? [False, False] Translation: X:-18.99, Y:-0.18, Z:0.29 [[ 9.92205237e-01 -9.32157545e-03 -1.24265348e-01 -1.89942967e+01] [ 7.84230572e-03 9.99892512e-01 -1.23879804e-02 -1.84776522e-01] [ 1.24367467e-01 1.13168921e-02 9.92171689e-01 2.85284123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.462557844 meters Centerline goodness : 0.091999 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.19, Z:0.28 [[ 9.92172553e-01 -3.96481453e-04 -1.24873807e-01 -1.90142750e+01] [-1.30975808e-03 9.99906912e-01 -1.35813154e-02 -1.86650001e-01] [ 1.24867568e-01 1.36385629e-02 9.92079674e-01 2.82391480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.522557844 meters Centerline goodness : 0.148183 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.18, Z:0.28 [[ 9.92136068e-01 3.43129689e-03 -1.25116938e-01 -1.90131938e+01] [-4.89088885e-03 9.99923506e-01 -1.13605147e-02 -1.75690926e-01] [ 1.25068386e-01 1.18831095e-02 9.92076958e-01 2.82117403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.582557844 meters Centerline goodness : 0.418847 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.17, Z:0.28 [[ 9.92038451e-01 6.68995639e-03 -1.25757533e-01 -1.90102663e+01] [-7.94375988e-03 9.99923594e-01 -9.47116223e-03 -1.67151269e-01] [ 1.25684563e-01 1.03947448e-02 9.92015796e-01 2.81137549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.642557844 meters Centerline goodness : 0.145555 with order 2 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.16, Z:0.28 [[ 9.91931159e-01 6.58183782e-03 -1.26606698e-01 -1.90080136e+01] [-7.95957442e-03 9.99914455e-01 -1.03791910e-02 -1.58171081e-01] [ 1.26527553e-01 1.13031784e-02 9.91898693e-01 2.81203716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.702557844 meters Centerline goodness : 0.145882 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.16, Z:0.28 [[ 9.91938434e-01 6.32796108e-03 -1.26562636e-01 -1.90083629e+01] [-7.75927066e-03 9.99911364e-01 -1.08192957e-02 -1.56232808e-01] [ 1.26482954e-01 1.17141090e-02 9.91899613e-01 2.81501216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.762557844 meters Centerline goodness : 0.160031 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.16, Z:0.28 [[ 9.91928650e-01 6.20893446e-03 -1.26645186e-01 -1.90082757e+01] [-7.66198058e-03 9.99910259e-01 -1.09894488e-02 -1.55612693e-01] [ 1.26565588e-01 1.18711021e-02 9.91887206e-01 2.81677155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.822557844 meters Centerline goodness : 0.235800 with order 1 Centerline is valid? [False, False] Translation: X:-18.99, Y:-0.15, Z:0.29 [[ 9.91829793e-01 -1.12694302e-03 -1.27563283e-01 -1.89885794e+01] [-1.38211779e-04 9.99950899e-01 -9.90857414e-03 -1.49158315e-01] [ 1.27568186e-01 9.84524979e-03 9.91780938e-01 2.85788235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.882557844 meters Centerline goodness : 0.162110 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.15, Z:0.28 [[ 9.91705923e-01 7.22924349e-03 -1.28324200e-01 -1.90084822e+01] [-8.72889389e-03 9.99899983e-01 -1.11278725e-02 -1.51578847e-01] [ 1.28230919e-01 1.21557054e-02 9.91669839e-01 2.82568776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.942557844 meters Centerline goodness : 0.159840 with order 1 Centerline is valid? [False, False] Translation: X:-18.99, Y:-0.15, Z:0.29 [[ 9.91362939e-01 3.44447417e-03 -1.31101710e-01 -1.89885670e+01] [-4.57353666e-03 9.99954996e-01 -8.31198610e-03 -1.46299318e-01] [ 1.31067180e-01 8.83979345e-03 9.91334077e-01 2.86622939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.002557844 meters Centerline goodness : 0.128111 with order 3 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.15, Z:0.28 [[ 9.91369786e-01 1.28306538e-02 -1.30465788e-01 -1.90120248e+01] [-1.40746075e-02 9.99863816e-01 -8.61708057e-03 -1.46519866e-01] [ 1.30337458e-01 1.03789681e-02 9.91415364e-01 2.83734751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.062557844 meters Centerline goodness : 0.155867 with order 1 Centerline is valid? [False, False] Translation: X:-19.01, Y:-0.14, Z:0.28 [[ 9.91397548e-01 1.28467319e-02 -1.30253077e-01 -1.90126847e+01] [-1.41578849e-02 9.99857950e-01 -9.14516044e-03 -1.43008986e-01] [ 1.30117089e-01 1.09105977e-02 9.91438602e-01 2.83846577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.122557844 meters Centerline goodness : 0.411225 with order 1 Centerline is valid? [False, False] Translation: X:-19.03, Y:-0.13, Z:0.28 [[ 9.91673552e-01 7.87514239e-03 -1.28536173e-01 -1.90346151e+01] [-8.79453859e-03 9.99939633e-01 -6.58681766e-03 -1.33220421e-01] [ 1.28476541e-01 7.66238920e-03 9.91682946e-01 2.80872480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.18255784400003 meters Centerline goodness : 0.148010 with order 1 Centerline is valid? [False, False] Translation: X:-19.02, Y:-0.13, Z:0.28 [[ 9.91746210e-01 3.86052191e-04 -1.28215854e-01 -1.90163247e+01] [-1.12899797e-03 9.99982993e-01 -5.72186521e-03 -1.25831470e-01] [ 1.28211464e-01 5.81939358e-03 9.91729779e-01 2.84894147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24255784400003 meters Centerline goodness : 0.156553 with order 1 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.13, Z:0.28 [[ 9.91390122e-01 2.67819423e-04 -1.30941032e-01 -1.90613956e+01] [-1.01423184e-03 9.99983616e-01 -5.63371454e-03 -1.27157138e-01] [ 1.30937377e-01 5.71801351e-03 9.91374151e-01 2.80245321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.302557844 meters Centerline goodness : 0.129700 with order 3 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.13, Z:0.28 [[ 9.91317410e-01 1.13330709e-04 -1.31490604e-01 -1.90595927e+01] [-8.76275697e-04 9.99983117e-01 -5.74442991e-03 -1.27647874e-01] [ 1.31487733e-01 5.80977540e-03 9.91300773e-01 2.79858873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.362557844 meters Centerline goodness : 0.161548 with order 1 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.13, Z:0.28 [[ 9.91388106e-01 2.62607051e-04 -1.30956308e-01 -1.90612895e+01] [-1.04073907e-03 9.99982209e-01 -5.87351587e-03 -1.25939079e-01] [ 1.30952436e-01 5.95922512e-03 9.91370742e-01 2.80174581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.422557844 meters Centerline goodness : 0.304116 with order 1 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.12, Z:0.28 [[ 9.91407782e-01 1.20215148e-04 -1.30807476e-01 -1.90618005e+01] [-9.43524635e-04 9.99980135e-01 -6.23209722e-03 -1.24201619e-01] [ 1.30804128e-01 6.30196976e-03 9.91388201e-01 2.80269195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.482557844 meters Centerline goodness : 0.168627 with order 1 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.12, Z:0.28 [[ 9.91344051e-01 2.01483121e-04 -1.31289494e-01 -1.90596820e+01] [-1.03488596e-03 9.99979747e-01 -6.27962663e-03 -1.23222729e-01] [ 1.31285570e-01 6.36114016e-03 9.91324183e-01 2.79177442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.542557844 meters Centerline goodness : 0.164400 with order 1 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.12, Z:0.28 [[ 9.91313175e-01 1.91085251e-04 -1.31522438e-01 -1.90589843e+01] [-9.96804990e-04 9.99981139e-01 -6.06029119e-03 -1.24959994e-01] [ 1.31518800e-01 6.13874872e-03 9.91294669e-01 2.79106751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.602557844 meters Centerline goodness : 0.172713 with order 1 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.13, Z:0.28 [[ 9.91295590e-01 3.38335001e-04 -1.31654622e-01 -1.90587037e+01] [-1.09008139e-03 9.99983512e-01 -5.63795968e-03 -1.27214668e-01] [ 1.31650544e-01 5.73239882e-03 9.91279614e-01 2.79222003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.662557844 meters Centerline goodness : 0.175669 with order 1 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.13, Z:0.28 [[ 9.91333319e-01 7.38448454e-04 -1.31368585e-01 -1.90599517e+01] [-1.40295038e-03 9.99986686e-01 -4.96582066e-03 -1.29748012e-01] [ 1.31363169e-01 5.10708708e-03 9.91321157e-01 2.79897849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.722557844 meters Centerline goodness : 0.109394 with order 2 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.13, Z:0.28 [[ 9.91326326e-01 8.83442009e-04 -1.31420449e-01 -1.90601173e+01] [-1.53441886e-03 9.99987051e-01 -4.85220714e-03 -1.30160504e-01] [ 1.31414461e-01 5.01177469e-03 9.91314845e-01 2.80244871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.782557844 meters Centerline goodness : 0.168345 with order 1 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.13, Z:0.28 [[ 9.91286232e-01 1.29241760e-03 -1.31719158e-01 -1.90591664e+01] [-1.92039059e-03 9.99987388e-01 -4.64059642e-03 -1.30395550e-01] [ 1.31711499e-01 4.85311157e-03 9.91276212e-01 2.79972873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.842557844 meters Centerline goodness : 0.135397 with order 3 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.13, Z:0.28 [[ 9.91272485e-01 1.44580088e-03 -1.31820981e-01 -1.90590010e+01] [-2.04428279e-03 9.99988209e-01 -4.40489398e-03 -1.31521189e-01] [ 1.31813058e-01 4.63592957e-03 9.91263752e-01 2.80083852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.902557844 meters Centerline goodness : 0.136016 with order 2 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.13, Z:0.28 [[ 9.91313308e-01 -2.20218903e-03 -1.31503143e-01 -1.90596102e+01] [ 1.22618610e-03 9.99971105e-01 -7.50241235e-03 -1.34157156e-01] [ 1.31515864e-01 7.27599387e-03 9.91287364e-01 2.79822768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.962557844 meters Centerline goodness : 0.135645 with order 3 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.14, Z:0.28 [[ 9.91311807e-01 -2.01837581e-03 -1.31517403e-01 -1.90594748e+01] [ 1.11083369e-03 9.99975068e-01 -6.97354817e-03 -1.37361039e-01] [ 1.31528199e-01 6.76686667e-03 9.91289333e-01 2.79732013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.022557844 meters Centerline goodness : 0.131376 with order 3 Centerline is valid? [False, False] Translation: X:-19.06, Y:-0.14, Z:0.28 [[ 9.91354728e-01 -1.54511186e-03 -1.31199911e-01 -1.90609356e+01] [ 7.25617951e-04 9.99979931e-01 -6.29372424e-03 -1.39773196e-01] [ 1.31207003e-01 6.14411227e-03 9.91335953e-01 2.80500661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.082557844 meters Centerline goodness : 0.133536 with order 3 Centerline is valid? [False, False] Translation: X:-19.08, Y:-0.15, Z:0.28 [[ 9.91255501e-01 6.25049082e-03 -1.31808434e-01 -1.90795383e+01] [-7.31787303e-03 9.99944228e-01 -7.61514000e-03 -1.45112639e-01] [ 1.31753484e-01 8.51310680e-03 9.91245957e-01 2.76058932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.142557844 meters Centerline goodness : 0.142216 with order 3 Centerline is valid? [False, False] Translation: X:-19.08, Y:-0.14, Z:0.28 [[ 9.91279785e-01 6.44141872e-03 -1.31616471e-01 -1.90800503e+01] [-7.53057117e-03 9.99941386e-01 -7.77913132e-03 -1.43520370e-01] [ 1.31558647e-01 8.70244282e-03 9.91270190e-01 2.75968200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.202557844 meters Centerline goodness : 0.136865 with order 3 Centerline is valid? [False, False] Translation: X:-19.08, Y:-0.14, Z:0.28 [[ 9.91375591e-01 6.67592454e-03 -1.30881127e-01 -1.90823511e+01] [-7.77457631e-03 9.99938689e-01 -7.88509373e-03 -1.42073394e-01] [ 1.30820462e-01 8.83463476e-03 9.91366711e-01 2.76298864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.262557844 meters Centerline goodness : 0.134930 with order 3 Centerline is valid? [False, False] Translation: X:-19.08, Y:-0.14, Z:0.28 [[ 9.91298908e-01 6.65656410e-03 -1.31461646e-01 -1.90807249e+01] [-7.74800276e-03 9.99939620e-01 -7.79257327e-03 -1.43068838e-01] [ 1.31401837e-01 8.74333457e-03 9.91290629e-01 2.76181572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.322557844 meters Centerline goodness : 0.144507 with order 3 Centerline is valid? [False, False] Translation: X:-19.08, Y:-0.14, Z:0.28 [[ 9.91252068e-01 6.80588022e-03 -1.31806741e-01 -1.90799522e+01] [-7.86355573e-03 9.99940914e-01 -7.50559333e-03 -1.44178768e-01] [ 1.31747871e-01 8.47640457e-03 9.91247017e-01 2.76374630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.382557844 meters Centerline goodness : 0.127749 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.15, Z:0.28 [[ 9.91398580e-01 4.19312599e-03 -1.30810062e-01 -1.90856170e+01] [-5.49566966e-03 9.99938835e-01 -9.59811166e-03 -1.46610504e-01] [ 1.30761815e-01 1.02344432e-02 9.91360986e-01 2.78954696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.442557844 meters Centerline goodness : 0.134593 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.15, Z:0.28 [[ 9.91424107e-01 4.45615007e-03 -1.30607747e-01 -1.90864243e+01] [-5.70001017e-03 9.99941880e-01 -9.15134386e-03 -1.48248528e-01] [ 1.30559377e-01 9.81732840e-03 9.91391885e-01 2.79267428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.502557844 meters Centerline goodness : 0.135996 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.15, Z:0.28 [[ 9.91429035e-01 4.61305512e-03 -1.30564884e-01 -1.90867145e+01] [-5.82684546e-03 9.99943275e-01 -8.91595265e-03 -1.49420236e-01] [ 1.30516348e-01 9.60031574e-03 9.91399676e-01 2.79527664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.562557844 meters Centerline goodness : 0.143825 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.15, Z:0.28 [[ 9.91390530e-01 4.81410873e-03 -1.30849693e-01 -1.90859047e+01] [-6.02753408e-03 9.99942415e-01 -8.87895621e-03 -1.49026724e-01] [ 1.30799414e-01 9.59121408e-03 9.91362457e-01 2.79408787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.622557844 meters Centerline goodness : 0.140417 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.15, Z:0.28 [[ 9.91378877e-01 4.99620960e-03 -1.30931127e-01 -1.90857670e+01] [-6.23597055e-03 9.99939508e-01 -9.06050492e-03 -1.47529328e-01] [ 1.30877938e-01 9.79887584e-03 9.91350063e-01 2.79409018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.68255784400003 meters Centerline goodness : 0.143268 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.15, Z:0.28 [[ 9.91435734e-01 5.09462070e-03 -1.30496090e-01 -1.90871047e+01] [-6.36007909e-03 9.99936692e-01 -9.28235867e-03 -1.45908101e-01] [ 1.30440538e-01 1.00328275e-02 9.91405370e-01 2.79544670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74255784400003 meters Centerline goodness : 0.157151 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.15, Z:0.28 [[ 9.91516606e-01 5.29489998e-03 -1.29872183e-01 -1.90892519e+01] [-6.54370204e-03 9.99936353e-01 -9.19077702e-03 -1.45328174e-01] [ 1.29815252e-01 9.96265291e-03 9.91488147e-01 2.80099997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.802557844 meters Centerline goodness : 0.140366 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.15, Z:0.28 [[ 9.91463073e-01 5.17306189e-03 -1.30285131e-01 -1.90880362e+01] [-6.40726992e-03 9.99938468e-01 -9.05573747e-03 -1.46946608e-01] [ 1.30230268e-01 9.81320130e-03 9.91435211e-01 2.79997509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.862557844 meters Centerline goodness : 0.138444 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.15, Z:0.28 [[ 9.91486412e-01 1.46908958e-03 -1.30201909e-01 -1.90878501e+01] [-3.01870903e-03 9.99926936e-01 -1.17051029e-02 -1.51971472e-01] [ 1.30175200e-01 1.19984921e-02 9.91418405e-01 2.79539230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.922557844 meters Centerline goodness : 0.144819 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.16, Z:0.28 [[ 9.91556614e-01 -2.52533892e-03 -1.29649929e-01 -1.90891997e+01] [ 5.98628972e-04 9.99888844e-01 -1.48976842e-02 -1.55143797e-01] [ 1.29673139e-01 1.46942851e-02 9.91447908e-01 2.79405184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.982557844 meters Centerline goodness : 0.157227 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.16, Z:0.28 [[ 9.91404232e-01 -2.14290064e-03 -1.30816882e-01 -1.90854081e+01] [ 3.15714865e-04 9.99902132e-01 -1.39866494e-02 -1.60044777e-01] [ 1.30834052e-01 1.38251226e-02 9.91307882e-01 2.78586028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.042557844 meters Centerline goodness : 0.149889 with order 3 Centerline is valid? [False, False] Translation: X:-19.08, Y:-0.16, Z:0.28 [[ 9.91359320e-01 -1.88612798e-03 -1.31160742e-01 -1.90837566e+01] [ 1.02806516e-04 9.99907485e-01 -1.36018999e-02 -1.62034669e-01] [ 1.31174263e-01 1.34708860e-02 9.91267798e-01 2.77758429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.102557844 meters Centerline goodness : 0.132578 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.16, Z:0.28 [[ 9.91412253e-01 -1.69266335e-03 -1.30762683e-01 -1.90853542e+01] [-5.02663865e-05 9.99911224e-01 -1.33245032e-02 -1.63800429e-01] [ 1.30773628e-01 1.32166488e-02 9.91324154e-01 2.78339469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.162557844 meters Centerline goodness : 0.369580 with order 1 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.17, Z:0.28 [[ 9.91487841e-01 -1.01039484e-03 -1.30195393e-01 -1.90869395e+01] [-6.51044770e-04 9.99918912e-01 -1.27179299e-02 -1.65105120e-01] [ 1.30197686e-01 1.26944359e-02 9.91406785e-01 2.78362070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.222557844 meters Centerline goodness : 0.158192 with order 2 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.17, Z:0.28 [[ 9.91498713e-01 -8.12874779e-04 -1.30113952e-01 -1.90871689e+01] [-7.96344217e-04 9.99923847e-01 -1.23152600e-02 -1.67237172e-01] [ 1.30114054e-01 1.23141799e-02 9.91422561e-01 2.78335663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.282557844 meters Centerline goodness : 0.219711 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.17, Z:0.28 [[ 9.91559202e-01 -6.65040643e-04 -1.29653024e-01 -1.90892288e+01] [-8.83838171e-04 9.99928939e-01 -1.18884328e-02 -1.69375175e-01] [ 1.29651717e-01 1.19026772e-02 9.91488154e-01 2.79373811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.342557844 meters Centerline goodness : 0.140206 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.17, Z:0.28 [[ 9.91564435e-01 -4.84202835e-03 -1.29524233e-01 -1.90899406e+01] [ 2.87040373e-03 9.99877225e-01 -1.54044040e-02 -1.70832390e-01] [ 1.29582919e-01 1.49026723e-02 9.91456594e-01 2.79735305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.402557844 meters Centerline goodness : 0.134565 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.18, Z:0.28 [[ 9.91631803e-01 -7.47214360e-03 -1.28881863e-01 -1.90935449e+01] [ 5.34037269e-03 9.99843292e-01 -1.68781643e-02 -1.78343488e-01] [ 1.28987782e-01 1.60486473e-02 9.91516310e-01 2.81517900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.462557844 meters Centerline goodness : 0.133166 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.18, Z:0.28 [[ 9.91621491e-01 -1.14703035e-02 -1.28667209e-01 -1.90940063e+01] [ 8.97284053e-03 9.99760252e-01 -1.99731700e-02 -1.82119525e-01] [ 1.28865460e-01 1.86513143e-02 9.91486673e-01 2.81507170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.522557844 meters Centerline goodness : 0.139474 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.19, Z:0.28 [[ 9.91588928e-01 -1.51032922e-02 -1.28542945e-01 -1.90937334e+01] [ 1.23257671e-02 9.99673643e-01 -2.23759377e-02 -1.89186780e-01] [ 1.28838945e-01 2.06033417e-02 9.91451476e-01 2.81008198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.582557844 meters Centerline goodness : 0.136234 with order 3 Centerline is valid? [False, False] Translation: X:-19.09, Y:-0.19, Z:0.28 [[ 9.91589693e-01 -1.46048735e-02 -1.28594628e-01 -1.90936569e+01] [ 1.19399024e-02 9.99698184e-01 -2.14704253e-02 -1.93359610e-01] [ 1.28869389e-01 1.97544452e-02 9.91464796e-01 2.81147994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.642557844 meters Centerline goodness : 0.135229 with order 3 Centerline is valid? [False, False] Translation: X:-19.11, Y:-0.20, Z:0.28 [[ 9.91712849e-01 -5.90615856e-03 -1.28338391e-01 -1.91144199e+01] [ 3.15334734e-03 9.99760806e-01 -2.16422440e-02 -2.00181898e-01] [ 1.28435516e-01 2.10581959e-02 9.91494262e-01 2.77557305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.702557844 meters Centerline goodness : 0.133063 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.20, Z:0.27 [[ 9.91566018e-01 8.14617748e-03 -1.29346326e-01 -1.91345550e+01] [-1.06077681e-02 9.99775287e-01 -1.83534818e-02 -1.98864068e-01] [ 1.29167750e-01 1.95707647e-02 9.91429613e-01 2.73779785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.762557844 meters Centerline goodness : 0.144737 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.19, Z:0.27 [[ 9.91530368e-01 1.22757155e-02 -1.29293605e-01 -1.91343403e+01] [-1.44186974e-02 9.99773540e-01 -1.56515156e-02 -1.92697867e-01] [ 1.29072191e-01 1.73831984e-02 9.91482826e-01 2.73334564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.822557844 meters Centerline goodness : 0.150088 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.18, Z:0.27 [[ 9.91323368e-01 1.33105633e-02 -1.30770064e-01 -1.91296736e+01] [-1.55327141e-02 9.99751536e-01 -1.59874995e-02 -1.81789420e-01] [ 1.30524770e-01 1.78799959e-02 9.91283809e-01 2.72372849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.882557844 meters Centerline goodness : 0.148461 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.17, Z:0.27 [[ 9.91887884e-01 1.91868733e-03 -1.27101315e-01 -1.91286451e+01] [-3.59351336e-03 9.99909700e-01 -1.29491052e-02 -1.73337444e-01] [ 1.27064992e-01 1.33008008e-02 9.91805211e-01 2.71351694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.942557844 meters Centerline goodness : 0.157352 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.17, Z:0.27 [[ 9.91963782e-01 1.51165659e-03 -1.26513122e-01 -1.91307278e+01] [-3.21126710e-03 9.99907305e-01 -1.32313879e-02 -1.72195427e-01] [ 1.26481393e-01 1.35313250e-02 9.91876686e-01 2.72015079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.002557844 meters Centerline goodness : 0.162343 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.17, Z:0.27 [[ 9.91869447e-01 -2.80532166e-03 -1.27228657e-01 -1.91282835e+01] [ 6.46046983e-04 9.99855116e-01 -1.70096974e-02 -1.71440116e-01] [ 1.27257941e-01 1.67892034e-02 9.91727553e-01 2.71569335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.062557844 meters Centerline goodness : 0.123781 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.17, Z:0.27 [[ 9.91830834e-01 -3.23554808e-03 -1.27519130e-01 -1.91277239e+01] [ 1.07075044e-03 9.99854216e-01 -1.70411537e-02 -1.72717431e-01] [ 1.27555677e-01 1.67654005e-02 9.91689705e-01 2.71964542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.122557844 meters Centerline goodness : 0.151533 with order 3 Centerline is valid? [False, False] Translation: X:-19.11, Y:-0.17, Z:0.28 [[ 9.91969946e-01 -1.10438513e-02 -1.25990710e-01 -1.91087747e+01] [ 9.12020988e-03 9.99833027e-01 -1.58347639e-02 -1.69576816e-01] [ 1.26144550e-01 1.45585482e-02 9.91905036e-01 2.75846008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.18255784400003 meters Centerline goodness : 0.136356 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.18, Z:0.27 [[ 9.92088073e-01 -4.90833816e-03 -1.25447851e-01 -1.91261039e+01] [ 2.76358974e-03 9.99847129e-01 -1.72650498e-02 -1.78786865e-01] [ 1.25513417e-01 1.67817636e-02 9.91949976e-01 2.71500448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24255784400003 meters Centerline goodness : 0.136934 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.18, Z:0.27 [[ 9.92107743e-01 -4.76202276e-03 -1.25297844e-01 -1.91270847e+01] [ 2.68272173e-03 9.99855970e-01 -1.67583720e-02 -1.81889762e-01] [ 1.25359602e-01 1.62899714e-02 9.91977624e-01 2.72270744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.302557844 meters Centerline goodness : 0.135373 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.19, Z:0.27 [[ 9.92083772e-01 -4.32653836e-03 -1.25503268e-01 -1.91264298e+01] [ 2.35463894e-03 9.99871513e-01 -1.58560283e-02 -1.86328161e-01] [ 1.25555744e-01 1.54349935e-02 9.91966489e-01 2.72177584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.362557844 meters Centerline goodness : 0.124926 with order 3 Centerline is valid? [False, False] Translation: X:-19.14, Y:-0.19, Z:0.27 [[ 9.92140459e-01 2.82193678e-03 -1.25097347e-01 -1.91445143e+01] [-4.97299545e-03 9.99845052e-01 -1.68861331e-02 -1.94766759e-01] [ 1.25030312e-01 1.73755244e-02 9.92000762e-01 2.67816699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.422557844 meters Centerline goodness : 0.135220 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.19, Z:0.27 [[ 9.92150175e-01 -3.67161438e-03 -1.24998199e-01 -1.91272341e+01] [ 1.75567824e-03 9.99879341e-01 -1.54344215e-02 -1.89198828e-01] [ 1.25039786e-01 1.50938074e-02 9.92036909e-01 2.71757046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.482557844 meters Centerline goodness : 0.137019 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.19, Z:0.27 [[ 9.92135273e-01 2.33798986e-04 -1.25170064e-01 -1.91261938e+01] [-1.80057117e-03 9.99921444e-01 -1.24041603e-02 -1.85890900e-01] [ 1.25157331e-01 1.25319826e-02 9.92057756e-01 2.71086599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.542557844 meters Centerline goodness : 0.137682 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.18, Z:0.27 [[ 9.92133970e-01 6.25548248e-05 -1.25180599e-01 -1.91260006e+01] [-1.68299583e-03 9.99916159e-01 -1.28391122e-02 -1.83769365e-01] [ 1.25169301e-01 1.29487978e-02 9.92050893e-01 2.70806537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.602557844 meters Centerline goodness : 0.128864 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.18, Z:0.27 [[ 9.92166562e-01 -2.51734108e-04 -1.24921772e-01 -1.91269723e+01] [-1.44996006e-03 9.99907401e-01 -1.35309695e-02 -1.80350315e-01] [ 1.24913610e-01 1.36061071e-02 9.92074324e-01 2.71059778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.662557844 meters Centerline goodness : 0.131698 with order 3 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.18, Z:0.27 [[ 9.92142996e-01 -8.78459357e-04 -1.25105974e-01 -1.91267882e+01] [-8.78278268e-04 9.99901803e-01 -1.39861485e-02 -1.79191239e-01] [ 1.25105975e-01 1.39861371e-02 9.92044799e-01 2.71438644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.722557844 meters Centerline goodness : 0.141536 with order 2 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.18, Z:0.27 [[ 9.92144935e-01 -5.22957372e-03 -1.24984320e-01 -1.91272554e+01] [ 3.04039240e-03 9.99838720e-01 -1.76999833e-02 -1.79976845e-01] [ 1.25056725e-01 1.71809474e-02 9.92000822e-01 2.71597705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.782557844 meters Centerline goodness : 0.136054 with order 2 Centerline is valid? [False, False] Translation: X:-19.13, Y:-0.18, Z:0.27 [[ 9.92204385e-01 -5.34868509e-03 -1.24506422e-01 -1.91290357e+01] [ 3.19203274e-03 9.99841511e-01 -1.75146668e-02 -1.81218968e-01] [ 1.24580370e-01 1.69807006e-02 9.92064205e-01 2.72380900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.842557844 meters Centerline goodness : 0.130960 with order 3 Centerline is valid? [False, False] Translation: X:-19.17, Y:-0.18, Z:0.27 [[ 9.91756316e-01 -4.38772916e-03 -1.28063096e-01 -1.91712198e+01] [ 2.32442454e-03 9.99865150e-01 -1.62566330e-02 -1.81824362e-01] [ 1.28117156e-01 1.58249455e-02 9.91632777e-01 2.67356412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.902557844 meters Centerline goodness : 0.128014 with order 3 Centerline is valid? [False, False] Translation: X:-19.18, Y:-0.18, Z:0.27 [[ 9.91860813e-01 -1.86971178e-03 -1.27313123e-01 -1.91754666e+01] [ 2.79058220e-05 9.99895347e-01 -1.44669879e-02 -1.77525001e-01] [ 1.27326849e-01 1.43456856e-02 9.91757064e-01 2.69320228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.962557844 meters Centerline goodness : 0.152331 with order 1 Centerline is valid? [False, False] Translation: X:-19.18, Y:-0.18, Z:0.27 [[ 9.91900529e-01 -1.94105628e-03 -1.27002259e-01 -1.91761549e+01] [ 7.44844134e-05 9.99891943e-01 -1.47002535e-02 -1.76203309e-01] [ 1.27017070e-01 1.45717295e-02 9.91793491e-01 2.69101921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.022557844 meters Centerline goodness : 0.154678 with order 1 Centerline is valid? [False, False] Translation: X:-19.18, Y:-0.18, Z:0.27 [[ 9.91890203e-01 -1.92398857e-03 -1.27083137e-01 -1.91758360e+01] [ 4.88496552e-05 9.99891113e-01 -1.47566830e-02 -1.75577042e-01] [ 1.27097691e-01 1.46308013e-02 9.91782293e-01 2.68936117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.082557844 meters Centerline goodness : 0.155681 with order 1 Centerline is valid? [False, False] Translation: X:-19.18, Y:-0.18, Z:0.27 [[ 9.91930616e-01 -1.84431555e-03 -1.26768498e-01 -1.91772644e+01] [-1.23173538e-05 9.99892778e-01 -1.46435099e-02 -1.75860671e-01] [ 1.26781913e-01 1.45269073e-02 9.91824236e-01 2.69693382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.142557844 meters Centerline goodness : 0.133577 with order 2 Centerline is valid? [False, False] Translation: X:-19.18, Y:-0.17, Z:0.27 [[ 9.91966648e-01 -1.92933384e-03 -1.26484970e-01 -1.91781387e+01] [ 4.86846770e-05 9.99889435e-01 -1.48699640e-02 -1.74896634e-01] [ 1.26499674e-01 1.47443504e-02 9.91857065e-01 2.69836995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.202557844 meters Centerline goodness : 0.155911 with order 1 Centerline is valid? [False, False] Translation: X:-19.18, Y:-0.17, Z:0.27 [[ 9.92034805e-01 -1.62789033e-03 -1.25953542e-01 -1.91796901e+01] [-2.82743683e-04 9.99885192e-01 -1.51499909e-02 -1.71746504e-01] [ 1.25963744e-01 1.50649308e-02 9.91920452e-01 2.69841311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.262557844 meters Centerline goodness : 0.140900 with order 3 Centerline is valid? [False, False] Translation: X:-19.18, Y:-0.16, Z:0.27 [[ 9.91947959e-01 9.58100947e-04 -1.26642526e-01 -1.91755500e+01] [-2.71075396e-03 9.99902917e-01 -1.36677543e-02 -1.64815875e-01] [ 1.26617136e-01 1.39009977e-02 9.91854255e-01 2.67599641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.322557844 meters Centerline goodness : 0.126298 with order 3 Centerline is valid? [False, False] Translation: X:-19.17, Y:-0.16, Z:0.27 [[ 9.91847155e-01 8.13214820e-04 -1.27430607e-01 -1.91729094e+01] [-2.70569720e-03 9.99888601e-01 -1.46786858e-02 -1.55130181e-01] [ 1.27404474e-01 1.49038014e-02 9.91738865e-01 2.66819107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.382557844 meters Centerline goodness : 0.148641 with order 1 Centerline is valid? [False, False] Translation: X:-19.17, Y:-0.15, Z:0.27 [[ 9.91764360e-01 3.90273766e-04 -1.28075375e-01 -1.91709946e+01] [-2.36744559e-03 9.99880364e-01 -1.52856948e-02 -1.52362701e-01] [ 1.28054087e-01 1.54630188e-02 9.91646634e-01 2.66538942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.442557844 meters Centerline goodness : 0.127743 with order 3 Centerline is valid? [False, False] Translation: X:-19.19, Y:-0.15, Z:0.26 [[ 9.91846227e-01 -9.38087594e-03 -1.27094695e-01 -1.91944285e+01] [ 7.46812408e-03 9.99851699e-01 -1.55179888e-02 -1.48767764e-01] [ 1.27221419e-01 1.44422997e-02 9.91769192e-01 2.63915759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.502557844 meters Centerline goodness : 0.125626 with order 3 Centerline is valid? [False, False] Translation: X:-19.18, Y:-0.14, Z:0.27 [[ 9.92324743e-01 -1.67567090e-02 -1.22518638e-01 -1.91793997e+01] [ 1.51512720e-02 9.99786866e-01 -1.40236251e-02 -1.44252070e-01] [ 1.22727515e-01 1.20596769e-02 9.92367130e-01 2.67750174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.562557844 meters Centerline goodness : 0.124050 with order 3 Centerline is valid? [False, False] Translation: X:-19.22, Y:-0.15, Z:0.26 [[ 9.91958817e-01 -1.73824383e-02 -1.25361699e-01 -1.92240551e+01] [ 1.57597973e-02 9.99778852e-01 -1.39239044e-02 -1.47237820e-01] [ 1.25576007e-01 1.18362648e-02 9.92013392e-01 2.63102304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.622557844 meters Centerline goodness : 0.122697 with order 3 Centerline is valid? [False, False] Translation: X:-19.22, Y:-0.14, Z:0.26 [[ 9.91856172e-01 -1.76474876e-02 -1.26134449e-01 -1.92216198e+01] [ 1.59459769e-02 9.99767903e-01 -1.44867326e-02 -1.44822015e-01] [ 1.26360829e-01 1.23574182e-02 9.91907372e-01 2.62524728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.68255784400003 meters Centerline goodness : 0.120454 with order 3 Centerline is valid? [False, False] Translation: X:-19.22, Y:-0.14, Z:0.26 [[ 9.91851733e-01 -1.36674329e-02 -1.26662312e-01 -1.92203350e+01] [ 1.23370435e-02 9.99860247e-01 -1.12820046e-02 -1.41683223e-01] [ 1.26798806e-01 9.62743735e-03 9.91881734e-01 2.62454002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74255784400003 meters Centerline goodness : 0.123146 with order 3 Centerline is valid? [False, False] Translation: X:-19.24, Y:-0.14, Z:0.26 [[ 9.91878894e-01 -5.71718631e-03 -1.27057366e-01 -1.92398810e+01] [ 4.15525902e-03 9.99912552e-01 -1.25547435e-02 -1.42785978e-01] [ 1.27118033e-01 1.19248288e-02 9.91815912e-01 2.58612868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.802557844 meters Centerline goodness : 0.146882 with order 1 Centerline is valid? [False, False] Translation: X:-19.26, Y:-0.14, Z:0.25 [[ 9.92328052e-01 4.36463156e-04 -1.23631901e-01 -1.92583579e+01] [-2.08388263e-03 9.99910755e-01 -1.31961975e-02 -1.43727640e-01] [ 1.23615108e-01 1.33525914e-02 9.92240401e-01 2.54899211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.862557844 meters Centerline goodness : 0.132844 with order 3 Centerline is valid? [False, False] Translation: X:-19.26, Y:-0.14, Z:0.26 [[ 9.92371724e-01 1.00377294e-04 -1.23281594e-01 -1.92599209e+01] [-1.82423265e-03 9.99902139e-01 -1.38702736e-02 -1.40325283e-01] [ 1.23268137e-01 1.39893616e-02 9.92274793e-01 2.55669862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.922557844 meters Centerline goodness : 0.419073 with order 1 Centerline is valid? [False, False] Translation: X:-19.26, Y:-0.14, Z:0.26 [[ 9.92388234e-01 -3.49664193e-05 -1.23148655e-01 -1.92603017e+01] [-1.70895374e-03 9.99899757e-01 -1.40554397e-02 -1.39672246e-01] [ 1.23136801e-01 1.41589084e-02 9.92288695e-01 2.55714483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.982557844 meters Centerline goodness : 0.155038 with order 1 Centerline is valid? [False, False] Translation: X:-19.26, Y:-0.14, Z:0.26 [[ 9.92392784e-01 -1.15065355e-05 -1.23111994e-01 -1.92606291e+01] [-1.72339586e-03 9.99900712e-01 -1.39855667e-02 -1.39906904e-01] [ 1.23099931e-01 1.40913462e-02 9.92294231e-01 2.55980086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.042557844 meters Centerline goodness : 0.132641 with order 3 Centerline is valid? [False, False] Translation: X:-19.26, Y:-0.14, Z:0.26 [[ 9.92361689e-01 -4.12512185e-03 -1.23293399e-01 -1.92596919e+01] [ 1.98790844e-03 9.99845720e-01 -1.74523637e-02 -1.42234709e-01] [ 1.23346370e-01 1.70739611e-02 9.92216787e-01 2.55487267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.102557844 meters Centerline goodness : 0.169854 with order 3 Centerline is valid? [False, False] Translation: X:-19.27, Y:-0.15, Z:0.25 [[ 9.92611554e-01 1.58371868e-03 -1.21325160e-01 -1.92744298e+01] [-3.81996829e-03 9.99827042e-01 -1.82015000e-02 -1.53572488e-01] [ 1.21275349e-01 1.85304775e-02 9.92445923e-01 2.49927604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.162557844 meters Centerline goodness : 0.137052 with order 3 Centerline is valid? [False, False] Translation: X:-19.27, Y:-0.16, Z:0.25 [[ 9.92546007e-01 2.01938651e-03 -1.21853793e-01 -1.92727040e+01] [-4.14806294e-03 9.99843155e-01 -1.72179583e-02 -1.59423294e-01] [ 1.21799911e-01 1.75950730e-02 9.92398708e-01 2.49618181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.222557844 meters Centerline goodness : 0.126267 with order 3 Centerline is valid? [False, False] Translation: X:-19.27, Y:-0.16, Z:0.25 [[ 9.92534656e-01 2.62013933e-03 -1.21934785e-01 -1.92725747e+01] [-4.64350494e-03 9.99856158e-01 -1.63126308e-02 -1.63834225e-01] [ 1.21874504e-01 1.67570562e-02 9.92404054e-01 2.49751030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.282557844 meters Centerline goodness : 0.125549 with order 3 Centerline is valid? [False, False] Translation: X:-19.27, Y:-0.16, Z:0.25 [[ 9.92463757e-01 3.44482832e-03 -1.22490099e-01 -1.92703305e+01] [-5.43475293e-03 9.99858575e-01 -1.59151981e-02 -1.63503589e-01] [ 1.22417950e-01 1.64609607e-02 9.92342120e-01 2.48630312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.342557844 meters Centerline goodness : 0.120669 with order 3 Centerline is valid? [False, False] Translation: X:-19.27, Y:-0.16, Z:0.25 [[ 9.92415984e-01 4.28854402e-03 -1.22850005e-01 -1.92690487e+01] [-6.27007612e-03 9.99856339e-01 -1.57476252e-02 -1.61601106e-01] [ 1.22764822e-01 1.63984738e-02 9.92300302e-01 2.47979410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.402557844 meters Centerline goodness : 0.124373 with order 3 Centerline is valid? [False, False] Translation: X:-19.27, Y:-0.16, Z:0.25 [[ 9.92453588e-01 8.95537456e-03 -1.22293403e-01 -1.92710724e+01] [-1.05428733e-02 9.99868276e-01 -1.23401388e-02 -1.57254911e-01] [ 1.22166783e-01 1.35363389e-02 9.92417273e-01 2.48519361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.462557844 meters Centerline goodness : 0.123887 with order 3 Centerline is valid? [False, False] Translation: X:-19.27, Y:-0.15, Z:0.25 [[ 9.92495238e-01 8.86897171e-03 -1.21961237e-01 -1.92719687e+01] [-1.05015228e-02 9.99863574e-01 -1.27495394e-02 -1.54884256e-01] [ 1.21831523e-01 1.39346359e-02 9.92452974e-01 2.48415739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.522557844 meters Centerline goodness : 0.144481 with order 1 Centerline is valid? [False, False] Translation: X:-19.30, Y:-0.15, Z:0.25 [[ 9.92796823e-01 2.85634307e-03 -1.19776082e-01 -1.92956537e+01] [-4.18526381e-03 9.99932433e-01 -1.08449577e-02 -1.46824560e-01] [ 1.19737012e-01 1.12681341e-02 9.92741697e-01 2.45082449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.582557844 meters Centerline goodness : 0.140013 with order 1 Centerline is valid? [False, False] Translation: X:-19.30, Y:-0.14, Z:0.25 [[ 9.92949890e-01 4.92605394e-03 -1.18432469e-01 -1.93016186e+01] [-6.11961338e-03 9.99934069e-01 -9.71642564e-03 -1.38229431e-01] [ 1.18376797e-01 1.03726847e-02 9.92914569e-01 2.47377389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.642557844 meters Centerline goodness : 0.143838 with order 1 Centerline is valid? [False, False] Translation: X:-19.28, Y:-0.13, Z:0.25 [[ 9.93143810e-01 -2.93048516e-03 -1.16862248e-01 -1.92840661e+01] [ 1.84858037e-03 9.99954436e-01 -9.36526134e-03 -1.26366510e-01] [ 1.16884368e-01 9.08502207e-03 9.93103976e-01 2.51411672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.702557844 meters Centerline goodness : 0.149438 with order 1 Centerline is valid? [False, False] Translation: X:-19.33, Y:-0.12, Z:0.25 [[ 9.92769251e-01 -5.32769577e-03 -1.19920094e-01 -1.93286381e+01] [ 4.04905244e-03 9.99932356e-01 -1.09035991e-02 -1.20434128e-01] [ 1.19970073e-01 1.03391951e-02 9.92723669e-01 2.47969418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.762557844 meters Centerline goodness : 0.146643 with order 1 Centerline is valid? [False, False] Translation: X:-19.33, Y:-0.12, Z:0.25 [[ 9.92749295e-01 -5.82560131e-03 -1.20062063e-01 -1.93280338e+01] [ 4.44257672e-03 9.99920701e-01 -1.17836925e-02 -1.15748485e-01] [ 1.20121190e-01 1.11648675e-02 9.92696452e-01 2.47639544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.822557844 meters Centerline goodness : 0.109816 with order 3 Centerline is valid? [False, False] Translation: X:-19.33, Y:-0.11, Z:0.25 [[ 9.92748802e-01 -6.42489644e-03 -1.20035562e-01 -1.93285099e+01] [ 4.92467146e-03 9.99906069e-01 -1.27906365e-02 -1.11197229e-01] [ 1.20106465e-01 1.21067534e-02 9.92687193e-01 2.48088021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.882557844 meters Centerline goodness : 0.150726 with order 1 Centerline is valid? [False, False] Translation: X:-19.33, Y:-0.10, Z:0.25 [[ 9.92704446e-01 -7.14420084e-03 -1.20361305e-01 -1.93279434e+01] [ 5.48748270e-03 9.99885668e-01 -1.40903719e-02 -1.04137910e-01] [ 1.20448209e-01 1.33270943e-02 9.92630151e-01 2.48285753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.942557844 meters Centerline goodness : 0.102082 with order 1 Centerline is valid? [False, False] Translation: X:-19.33, Y:-0.10, Z:0.25 [[ 9.92722682e-01 -7.57565975e-03 -1.20184382e-01 -1.93285693e+01] [ 5.84932269e-03 9.99874688e-01 -1.47103567e-02 -1.01345607e-01] [ 1.20280762e-01 1.39003075e-02 9.92642594e-01 2.48480521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.002557844 meters Centerline goodness : 0.155005 with order 1 Centerline is valid? [False, False] Translation: X:-19.33, Y:-0.10, Z:0.25 [[ 9.92687105e-01 -7.98733605e-03 -1.20451295e-01 -1.93276287e+01] [ 6.19825194e-03 9.99864949e-01 -1.52205302e-02 -9.94525183e-02] [ 1.20556600e-01 1.43626366e-02 9.92602549e-01 2.48164010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.062557844 meters Centerline goodness : 0.161624 with order 1 Centerline is valid? [False, False] Translation: X:-19.32, Y:-0.10, Z:0.25 [[ 9.92556619e-01 -8.67823241e-03 -1.21474464e-01 -1.93248010e+01] [ 6.80455033e-03 9.99851530e-01 -1.58308374e-02 -9.79943876e-02] [ 1.21593812e-01 1.48864233e-02 9.92468306e-01 2.48036386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.122557844 meters Centerline goodness : 0.158694 with order 1 Centerline is valid? [False, False] Translation: X:-19.32, Y:-0.10, Z:0.25 [[ 9.92545941e-01 -8.89559528e-03 -1.21545973e-01 -1.93248141e+01] [ 7.01526108e-03 9.99849146e-01 -1.58893330e-02 -9.83168336e-02] [ 1.21668982e-01 1.49182162e-02 9.92458617e-01 2.48341538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.18255784400003 meters Centerline goodness : 0.157267 with order 1 Centerline is valid? [False, False] Translation: X:-19.37, Y:-0.10, Z:0.24 [[ 9.92205757e-01 -1.00250693e-02 -1.24206414e-01 -1.93689088e+01] [ 8.03873386e-03 9.99831829e-01 -1.64830891e-02 -1.02800428e-01] [ 1.24350770e-01 1.53561536e-02 9.92119486e-01 2.43395526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24255784400003 meters Centerline goodness : 0.157150 with order 1 Centerline is valid? [False, False] Translation: X:-19.37, Y:-0.11, Z:0.24 [[ 9.92191770e-01 -9.86819746e-03 -1.24330649e-01 -1.93682792e+01] [ 7.93266483e-03 9.99839673e-01 -1.60530857e-02 -1.05144420e-01] [ 1.24469130e-01 1.49414662e-02 9.92110976e-01 2.43046857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.302557844 meters Centerline goodness : 0.257637 with order 1 Centerline is valid? [False, False] Translation: X:-19.37, Y:-0.11, Z:0.24 [[ 9.92192867e-01 -9.43291783e-03 -1.24355679e-01 -1.93682972e+01] [ 7.61469554e-03 9.99857169e-01 -1.50883653e-02 -1.10099678e-01] [ 1.24480244e-01 1.40236378e-02 9.92122979e-01 2.43233032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.362557844 meters Centerline goodness : 0.138902 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-0.12, Z:0.24 [[ 9.91901003e-01 -1.02493466e-02 -1.26599177e-01 -1.94141225e+01] [ 8.41479515e-03 9.99851824e-01 -1.50173500e-02 -1.19967068e-01] [ 1.26734336e-01 1.38304184e-02 9.91840273e-01 2.39074092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.422557844 meters Centerline goodness : 0.140988 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-0.13, Z:0.24 [[ 9.91892610e-01 -9.69502178e-03 -1.26708551e-01 -1.94138081e+01] [ 8.00569637e-03 9.99872245e-01 -1.38348369e-02 -1.26486048e-01] [ 1.26826492e-01 1.27082823e-02 9.91843506e-01 2.39141209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.482557844 meters Centerline goodness : 0.118917 with order 3 Centerline is valid? [False, False] Translation: X:-19.42, Y:-0.13, Z:0.24 [[ 9.91947417e-01 -9.42671997e-03 -1.26299082e-01 -1.94153224e+01] [ 7.81267562e-03 9.99881443e-01 -1.32688135e-02 -1.29698799e-01] [ 1.26409190e-01 1.21752315e-02 9.91903463e-01 2.39698805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.542557844 meters Centerline goodness : 0.149188 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.14, Z:0.23 [[ 9.92180920e-01 -1.66264841e-03 -1.24796868e-01 -1.94339669e+01] [ 1.66268402e-05 9.99913015e-01 -1.31894893e-02 -1.41550608e-01] [ 1.24807942e-01 1.30842846e-02 9.92094642e-01 2.34950035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.602557844 meters Centerline goodness : 0.119808 with order 2 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.15, Z:0.23 [[ 9.92174397e-01 -1.33717664e-03 -1.24852624e-01 -1.94336007e+01] [-2.00652013e-04 9.99924286e-01 -1.23037638e-02 -1.47388703e-01] [ 1.24859623e-01 1.22325313e-02 9.92099007e-01 2.34761250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.662557844 meters Centerline goodness : 0.113526 with order 3 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.15, Z:0.23 [[ 9.92173783e-01 -1.02843833e-03 -1.24860425e-01 -1.94335821e+01] [-4.07489104e-04 9.99934086e-01 -1.14741764e-02 -1.53172261e-01] [ 1.24863996e-01 1.14352563e-02 9.92107967e-01 2.34806314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.722557844 meters Centerline goodness : 0.122847 with order 3 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.16, Z:0.23 [[ 9.92174642e-01 -4.64146398e-04 -1.24856978e-01 -1.94329374e+01] [-8.77128582e-04 9.99942504e-01 -1.06873038e-02 -1.56358289e-01] [ 1.24854760e-01 1.07131874e-02 9.92117189e-01 2.33980674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.782557844 meters Centerline goodness : 0.131757 with order 3 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.16, Z:0.23 [[ 9.92149538e-01 -2.35852708e-04 -1.25056943e-01 -1.94319355e+01] [-1.10220661e-03 9.99942889e-01 -1.06303016e-02 -1.56180384e-01] [ 1.25052308e-01 1.06846874e-02 9.92092616e-01 2.33320823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.842557844 meters Centerline goodness : 0.145939 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.16, Z:0.23 [[ 9.92116416e-01 -7.84585110e-05 -1.25319632e-01 -1.94309768e+01] [-1.27190845e-03 9.99941994e-01 -1.06953332e-02 -1.55141936e-01] [ 1.25313202e-01 1.07704107e-02 9.92058768e-01 2.32854338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.902557844 meters Centerline goodness : 0.143743 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.15, Z:0.23 [[ 9.92144929e-01 -1.50086617e-04 -1.25093638e-01 -1.94316733e+01] [-1.22536339e-03 9.99939642e-01 -1.09183461e-02 -1.53923567e-01] [ 1.25087726e-01 1.09858669e-02 9.92084861e-01 2.32893278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.962557844 meters Centerline goodness : 0.138508 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.16, Z:0.23 [[ 9.92145651e-01 -1.08601658e-04 -1.25087952e-01 -1.94318937e+01] [-1.23572230e-03 9.99942317e-01 -1.06693880e-02 -1.55170700e-01] [ 1.25081896e-01 1.07401609e-02 9.92088287e-01 2.33164132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.022557844 meters Centerline goodness : 0.147133 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.16, Z:0.23 [[ 9.92075254e-01 -1.79080650e-04 -1.25644971e-01 -1.94304942e+01] [-1.13767080e-03 9.99945187e-01 -1.04081036e-02 -1.57066943e-01] [ 1.25639948e-01 1.04685647e-02 9.92020671e-01 2.33326355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.082557844 meters Centerline goodness : 0.148767 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.16, Z:0.23 [[ 9.92094845e-01 -1.18879290e-04 -1.25490259e-01 -1.94312923e+01] [-1.16539206e-03 9.99947701e-01 -1.01605698e-02 -1.58513358e-01] [ 1.25484904e-01 1.02264942e-02 9.92042821e-01 2.33875424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.142557844 meters Centerline goodness : 0.147356 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.16, Z:0.23 [[ 9.92226082e-01 5.89712000e-05 -1.24448381e-01 -1.94343942e+01] [-1.33724464e-03 9.99947207e-01 -1.01880065e-02 -1.57480740e-01] [ 1.24441210e-01 1.02752237e-02 9.92173778e-01 2.34260994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.202557844 meters Centerline goodness : 0.143485 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.16, Z:0.23 [[ 9.92206837e-01 -1.96360090e-05 -1.24601733e-01 -1.94333247e+01] [-1.29674493e-03 9.99944205e-01 -1.04835950e-02 -1.56005501e-01] [ 1.24594987e-01 1.05634713e-02 9.92151451e-01 2.33347351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.262557844 meters Centerline goodness : 0.414303 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.16, Z:0.23 [[ 9.92211156e-01 1.90849796e-04 -1.24567190e-01 -1.94338693e+01] [-1.44306244e-03 9.99949333e-01 -9.96235467e-03 -1.58838535e-01] [ 1.24558977e-01 1.00645177e-02 9.92161160e-01 2.33920987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.322557844 meters Centerline goodness : 0.238046 with order 3 Centerline is valid? [False, False] Translation: X:-19.44, Y:-0.16, Z:0.24 [[ 9.92308054e-01 -2.24412234e-03 -1.23772738e-01 -1.94376692e+01] [ 8.26359097e-04 9.99933477e-01 -1.15047166e-02 -1.64462425e-01] [ 1.23790322e-01 1.13139422e-02 9.92243897e-01 2.35437448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.382557844 meters Centerline goodness : 0.415952 with order 1 Centerline is valid? [False, False] Translation: X:-19.44, Y:-0.17, Z:0.24 [[ 9.92287139e-01 -2.07322266e-03 -1.23943275e-01 -1.94369092e+01] [ 7.17936605e-04 9.99939478e-01 -1.09783926e-02 -1.67548428e-01] [ 1.23958534e-01 1.08047343e-02 9.92228572e-01 2.35088917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.442557844 meters Centerline goodness : 0.131379 with order 1 Centerline is valid? [False, False] Translation: X:-19.43, Y:-0.17, Z:0.23 [[ 9.92187562e-01 -4.49530201e-03 -1.24674109e-01 -1.94329147e+01] [ 2.94453404e-03 9.99916028e-01 -1.26200580e-02 -1.73598847e-01] [ 1.24720371e-01 1.21543574e-02 9.92117483e-01 2.33269727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.502557844 meters Centerline goodness : 0.139996 with order 2 Centerline is valid? [False, False] Translation: X:-19.42, Y:-0.18, Z:0.24 [[ 9.92643706e-01 2.96230957e-03 -1.21035932e-01 -1.94161127e+01] [-4.62513277e-03 9.99898718e-01 -1.34596344e-02 -1.83742658e-01] [ 1.20983801e-01 1.39204286e-02 9.92556871e-01 2.37172333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.562557844 meters Centerline goodness : 0.129781 with order 1 Centerline is valid? [False, False] Translation: X:-19.42, Y:-0.19, Z:0.24 [[ 9.92613606e-01 3.28328685e-03 -1.21274272e-01 -1.94151454e+01] [-4.86486026e-03 9.99906913e-01 -1.27475122e-02 -1.87799752e-01] [ 1.21221129e-01 1.32433365e-02 9.92537179e-01 2.36746785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.622557844 meters Centerline goodness : 0.139537 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-0.19, Z:0.24 [[ 9.92572458e-01 3.68915091e-03 -1.21598954e-01 -1.94139492e+01] [-5.17557845e-03 9.99915674e-01 -1.19104380e-02 -1.91929627e-01] [ 1.21544760e-01 1.24513177e-02 9.92507852e-01 2.36285696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.68255784400003 meters Centerline goodness : 0.142364 with order 1 Centerline is valid? [False, False] Translation: X:-19.42, Y:-0.20, Z:0.24 [[ 9.92609430e-01 2.91886612e-04 -1.21352524e-01 -1.94153127e+01] [-2.01867840e-03 9.99898456e-01 -1.41068533e-02 -1.98927693e-01] [ 1.21336084e-01 1.42475673e-02 9.92509225e-01 2.36971026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74255784400003 meters Centerline goodness : 0.135487 with order 1 Centerline is valid? [False, False] Translation: X:-19.42, Y:-0.20, Z:0.24 [[ 9.92608134e-01 -3.58443447e-03 -1.21310530e-01 -1.94151811e+01] [ 1.55599763e-03 9.99857464e-01 -1.68116293e-02 -2.04925765e-01] [ 1.21353499e-01 1.64986011e-02 9.92472229e-01 2.36728134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.802557844 meters Centerline goodness : 0.135042 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-0.21, Z:0.24 [[ 9.92539393e-01 -6.19688467e-03 -1.21766794e-01 -1.94122033e+01] [ 3.99116936e-03 9.99823662e-01 -1.83498228e-02 -2.11818630e-01] [ 1.21859034e-01 1.77269301e-02 9.92389103e-01 2.35118531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.862557844 meters Centerline goodness : 0.137301 with order 1 Centerline is valid? [False, False] Translation: X:-19.41, Y:-0.22, Z:0.24 [[ 9.92550591e-01 -9.33368105e-03 -1.21475125e-01 -1.94145619e+01] [ 6.93019890e-03 9.99772076e-01 -2.01932755e-02 -2.19663847e-01] [ 1.21635915e-01 1.92010008e-02 9.92389050e-01 2.36711931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.922557844 meters Centerline goodness : 0.136434 with order 1 Centerline is valid? [False, False] Translation: X:-19.42, Y:-0.23, Z:0.24 [[ 9.92604837e-01 -1.27031057e-02 -1.20723937e-01 -1.94179318e+01] [ 1.00941156e-02 9.99702629e-01 -2.21982507e-02 -2.27795964e-01] [ 1.20970024e-01 2.08154896e-02 9.92437892e-01 2.38161839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.982557844 meters Centerline goodness : 0.246877 with order 3 Centerline is valid? [False, False] Translation: X:-19.42, Y:-0.23, Z:0.24 [[ 9.92572906e-01 -1.29651985e-02 -1.20958377e-01 -1.94165364e+01] [ 1.04228131e-02 9.99711761e-01 -2.16277666e-02 -2.34457403e-01] [ 1.21203920e-01 2.02064086e-02 9.92421942e-01 2.37321512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.042557844 meters Centerline goodness : 0.141494 with order 1 Centerline is valid? [False, False] Translation: X:-19.42, Y:-0.24, Z:0.24 [[ 9.92540174e-01 -1.66807859e-02 -1.20771497e-01 -1.94162330e+01] [ 1.38907014e-02 9.99617670e-01 -2.39073729e-02 -2.41098628e-01] [ 1.21124117e-01 2.20514272e-02 9.92392404e-01 2.36067002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.102557844 meters Centerline goodness : 0.141547 with order 1 Centerline is valid? [False, False] Translation: X:-19.42, Y:-0.25, Z:0.24 [[ 9.92617067e-01 -1.90702542e-02 -1.19781818e-01 -1.94201018e+01] [ 1.62554452e-02 9.99569306e-01 -2.44328267e-02 -2.50265364e-01] [ 1.20196169e-01 2.23053340e-02 9.92499548e-01 2.36137439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.162557844 meters Centerline goodness : 0.144826 with order 1 Centerline is valid? [False, False] Translation: X:-19.44, Y:-0.26, Z:0.23 [[ 9.92971248e-01 -1.32726218e-02 -1.17609257e-01 -1.94373428e+01] [ 1.02670642e-02 9.99605969e-01 -2.61245794e-02 -2.60826958e-01] [ 1.17909657e-01 2.47334545e-02 9.92716258e-01 2.31128314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.222557844 meters Centerline goodness : 0.150106 with order 3 Centerline is valid? [False, False] Translation: X:-19.44, Y:-0.26, Z:0.23 [[ 9.92964449e-01 -1.37696823e-02 -1.17609522e-01 -1.94375570e+01] [ 1.08315079e-02 9.99613963e-01 -2.55852107e-02 -2.64086218e-01] [ 1.17916420e-01 2.41313161e-02 9.92730274e-01 2.30296506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.282557844 meters Centerline goodness : 0.231260 with order 3 Centerline is valid? [False, False] Translation: X:-19.45, Y:-0.27, Z:0.22 [[ 9.93155634e-01 -8.43403275e-03 -1.16493578e-01 -1.94495386e+01] [ 5.23571512e-03 9.99601636e-01 -2.77336573e-02 -2.73669635e-01] [ 1.16681077e-01 2.69339108e-02 9.92804155e-01 2.24922867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.342557844 meters SLAMing on 491.402557844 meters Centerline goodness : 0.126752 with order 3 Centerline is valid? [False, False] Translation: X:-19.45, Y:-0.28, Z:0.22 [[ 9.93092431e-01 -8.95924290e-03 -1.16992113e-01 -1.94490945e+01] [ 5.85403629e-03 9.99622098e-01 -2.68587169e-02 -2.80859618e-01] [ 1.17188536e-01 2.59883124e-02 9.92769588e-01 2.24128239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.462557844 meters Centerline goodness : 0.253918 with order 3 Centerline is valid? [False, False] Translation: X:-19.45, Y:-0.28, Z:0.22 [[ 9.93112920e-01 -9.05738164e-03 -1.16810496e-01 -1.94496213e+01] [ 5.97411943e-03 9.99625143e-01 -2.67185855e-02 -2.80765005e-01] [ 1.17008710e-01 2.58367326e-02 9.92794755e-01 2.24150086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.522557844 meters Centerline goodness : 0.118430 with order 3 Centerline is valid? [False, False] Translation: X:-19.45, Y:-0.28, Z:0.22 [[ 9.93084411e-01 -5.52594916e-03 -1.17272406e-01 -1.94484583e+01] [ 2.82537320e-03 9.99727269e-01 -2.31819922e-02 -2.81098975e-01] [ 1.17368524e-01 2.26903367e-02 9.92829179e-01 2.24083865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.582557844 meters Centerline goodness : 0.130448 with order 3 Centerline is valid? [False, False] Translation: X:-19.45, Y:-0.28, Z:0.22 [[ 9.93056763e-01 -5.60028533e-03 -1.17502778e-01 -1.94479282e+01] [ 2.89393929e-03 9.99726883e-01 -2.31901735e-02 -2.80894781e-01] [ 1.17600558e-01 2.26891127e-02 9.92801749e-01 2.24153729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.642557844 meters Centerline goodness : 0.154939 with order 1 Centerline is valid? [False, False] Translation: X:-19.45, Y:-0.28, Z:0.23 [[ 9.93121645e-01 -5.62017707e-03 -1.16952180e-01 -1.94502196e+01] [ 2.94778791e-03 9.99730873e-01 -2.30107088e-02 -2.81078316e-01] [ 1.17050029e-01 2.25076827e-02 9.92870936e-01 2.25327245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.702557844 meters Centerline goodness : 0.128865 with order 3 Centerline is valid? [False, False] Translation: X:-19.47, Y:-0.27, Z:0.22 [[ 9.93019825e-01 -1.36149011e-02 -1.17159133e-01 -1.94691101e+01] [ 1.11735941e-02 9.99707069e-01 -2.14691960e-02 -2.73934716e-01] [ 1.17417115e-01 2.00102486e-02 9.92881066e-01 2.22411903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.762557844 meters Centerline goodness : 0.220608 with order 3 Centerline is valid? [False, False] Translation: X:-19.47, Y:-0.27, Z:0.22 [[ 9.93000102e-01 -1.33449089e-02 -1.17357195e-01 -1.94681295e+01] [ 1.09491558e-02 9.99718777e-01 -2.10352952e-02 -2.74625200e-01] [ 1.17604905e-01 1.96030881e-02 9.92866962e-01 2.21550615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.822557844 meters Centerline goodness : 0.095362 with order 1 Centerline is valid? [False, False] Translation: X:-19.47, Y:-0.28, Z:0.22 [[ 9.93066201e-01 -1.37539121e-02 -1.16749089e-01 -1.94704704e+01] [ 1.13755301e-02 9.99714470e-01 -2.10137013e-02 -2.75389262e-01] [ 1.17004774e-01 1.95399138e-02 9.92939109e-01 2.21946213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.882557844 meters Centerline goodness : 0.090481 with order 2 Centerline is valid? [False, False] Translation: X:-19.47, Y:-0.28, Z:0.22 [[ 9.93042016e-01 -1.38195974e-02 -1.16946881e-01 -1.94697318e+01] [ 1.14962988e-02 9.99723394e-01 -2.05175807e-02 -2.77207103e-01] [ 1.17198077e-01 1.90303634e-02 9.92926209e-01 2.20968714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.942557844 meters Centerline goodness : 0.218089 with order 3 Centerline is valid? [False, False] Translation: X:-19.47, Y:-0.28, Z:0.22 [[ 9.93038905e-01 -1.39770268e-02 -1.16954585e-01 -1.94690678e+01] [ 1.17935536e-02 9.99743392e-01 -1.93406922e-02 -2.81656847e-01] [ 1.17194899e-01 1.78267496e-02 9.92948923e-01 2.18673888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.002557844 meters Centerline goodness : 0.098469 with order 1 Centerline is valid? [False, False] Translation: X:-19.49, Y:-0.29, Z:0.22 [[ 9.93501354e-01 -6.53534119e-03 -1.13632520e-01 -1.94916179e+01] [ 4.25124951e-03 9.99784257e-01 -2.03314078e-02 -2.88761037e-01] [ 1.13740877e-01 1.97162009e-02 9.93314796e-01 2.15005524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.062557844 meters Centerline goodness : 0.172934 with order 3 Centerline is valid? [False, False] Translation: X:-19.49, Y:-0.29, Z:0.21 [[ 9.93455955e-01 -6.49684618e-03 -1.14030942e-01 -1.94903009e+01] [ 4.22322148e-03 9.99787667e-01 -2.01689306e-02 -2.89862460e-01] [ 1.14137764e-01 1.95553663e-02 9.93272449e-01 2.14613070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.122557844 meters SLAMing on 492.18255784400003 meters Centerline goodness : 0.090115 with order 1 Centerline is valid? [False, False] Translation: X:-19.51, Y:-0.28, Z:0.21 [[ 9.93166116e-01 4.73657937e-03 -1.16613166e-01 -1.95133320e+01] [-6.84133719e-03 9.99820725e-01 -1.76554169e-02 -2.81497901e-01] [ 1.16508634e-01 1.83325518e-02 9.93020471e-01 2.13542442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24255784400003 meters Centerline goodness : 0.233802 with order 1 Centerline is valid? [False, False] Translation: X:-19.51, Y:-0.28, Z:0.21 [[ 9.93098041e-01 4.41093658e-03 -1.17204201e-01 -1.95112275e+01] [-6.61221262e-03 9.99808853e-01 -1.83993571e-02 -2.77542106e-01] [ 1.17100640e-01 1.90473446e-02 9.92937379e-01 2.12931300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.302557844 meters Centerline goodness : 0.096662 with order 1 Centerline is valid? [False, False] Translation: X:-19.53, Y:-0.27, Z:0.21 [[ 9.92980406e-01 -3.74937597e-03 -1.18219525e-01 -1.95298302e+01] [ 1.74347291e-03 9.99852837e-01 -1.70664681e-02 -2.70861166e-01] [ 1.18266116e-01 1.67405559e-02 9.92840813e-01 2.10077428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.362557844 meters Centerline goodness : 0.113682 with order 3 Centerline is valid? [False, False] Translation: X:-19.55, Y:-0.26, Z:0.21 [[ 9.92797576e-01 -1.23103097e-02 -1.19169754e-01 -1.95486000e+01] [ 1.04598569e-02 9.99815014e-01 -1.61409400e-02 -2.63882712e-01] [ 1.19346409e-01 1.47781876e-02 9.92742686e-01 2.07270216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.422557844 meters Centerline goodness : 0.154652 with order 3 Centerline is valid? [False, False] Translation: X:-19.55, Y:-0.26, Z:0.21 [[ 9.92778872e-01 -1.25381300e-02 -1.19301749e-01 -1.95483399e+01] [ 1.06548641e-02 9.99808566e-01 -1.64105375e-02 -2.62556961e-01] [ 1.19484668e-01 1.50208910e-02 9.92722412e-01 2.07348201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.482557844 meters Centerline goodness : 0.094744 with order 1 Centerline is valid? [False, False] Translation: X:-19.55, Y:-0.26, Z:0.21 [[ 9.92823323e-01 -1.29318351e-02 -1.18889095e-01 -1.95496834e+01] [ 1.09711932e-02 9.99793058e-01 -1.71311122e-02 -2.59090132e-01] [ 1.19086029e-01 1.57038125e-02 9.92759743e-01 2.07726730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.542557844 meters Centerline goodness : 0.348733 with order 1 Centerline is valid? [False, False] Translation: X:-19.57, Y:-0.26, Z:0.20 [[ 9.92904434e-01 -4.61793209e-03 -1.18825337e-01 -1.95717951e+01] [ 2.50338478e-03 9.99835958e-01 -1.79385370e-02 -2.56912018e-01] [ 1.18888683e-01 1.75137874e-02 9.92753115e-01 2.04680761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.602557844 meters Centerline goodness : 0.089134 with order 1 Centerline is valid? [False, False] Translation: X:-19.57, Y:-0.25, Z:0.20 [[ 9.92960577e-01 -1.10306231e-03 -1.18440179e-01 -1.95728885e+01] [-7.25188902e-04 9.99881275e-01 -1.53918658e-02 -2.50685729e-01] [ 1.18443096e-01 1.53694074e-02 9.92841888e-01 2.04908476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.662557844 meters SLAMing on 492.722557844 meters Centerline goodness : 0.092471 with order 2 Centerline is valid? [False, False] Translation: X:-19.59, Y:-0.23, Z:0.20 [[ 9.93308400e-01 -6.58676368e-03 -1.15304110e-01 -1.95936187e+01] [ 5.01961372e-03 9.99891117e-01 -1.38765393e-02 -2.32793712e-01] [ 1.15382957e-01 1.32049010e-02 9.93233308e-01 2.01956681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.782557844 meters Centerline goodness : 0.166272 with order 3 Centerline is valid? [False, False] Translation: X:-19.59, Y:-0.23, Z:0.20 [[ 9.93292582e-01 -7.31807346e-03 -1.15396239e-01 -1.95932265e+01] [ 5.62178532e-03 9.99871415e-01 -1.50182954e-02 -2.27647447e-01] [ 1.15491306e-01 1.42688285e-02 9.93206000e-01 2.01888993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.842557844 meters Centerline goodness : 0.099952 with order 1 Centerline is valid? [False, False] Translation: X:-19.59, Y:-0.22, Z:0.20 [[ 9.93247040e-01 -7.80329934e-03 -1.15755887e-01 -1.95920106e+01] [ 6.01278997e-03 9.99856949e-01 -1.58091073e-02 -2.23867450e-01] [ 1.15862691e-01 1.50063332e-02 9.93151875e-01 2.01575574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.902557844 meters Centerline goodness : 0.087905 with order 1 Centerline is valid? [False, False] Translation: X:-19.63, Y:-0.21, Z:0.20 [[ 9.92782772e-01 -7.83826786e-03 -1.19670085e-01 -1.96312855e+01] [ 6.06023936e-03 9.99865888e-01 -1.52144576e-02 -2.10997284e-01] [ 1.19773291e-01 1.43794220e-02 9.92697130e-01 1.96390910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.962557844 meters Centerline goodness : 0.276156 with order 1 Centerline is valid? [False, False] Translation: X:-19.63, Y:-0.21, Z:0.20 [[ 9.92781854e-01 -8.50606861e-03 -1.19632088e-01 -1.96316231e+01] [ 6.58626061e-03 9.99843263e-01 -1.64338465e-02 -2.05044520e-01] [ 1.19753124e-01 1.55272965e-02 9.92682272e-01 1.96841482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.022557844 meters Centerline goodness : 0.092332 with order 1 Centerline is valid? [False, False] Translation: X:-19.63, Y:-0.20, Z:0.20 [[ 9.92760460e-01 -9.12005766e-03 -1.19764328e-01 -1.96309967e+01] [ 7.06514926e-03 9.99820650e-01 -1.75713519e-02 -1.99269350e-01] [ 1.19903100e-01 1.65979905e-02 9.92646842e-01 1.96650030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.082557844 meters Centerline goodness : 0.095109 with order 1 Centerline is valid? [False, False] Translation: X:-19.63, Y:-0.19, Z:0.19 [[ 9.92697646e-01 -7.73915381e-03 -1.20380598e-01 -1.96271447e+01] [ 5.78049119e-03 9.99845314e-01 -1.66112870e-02 -1.92612108e-01] [ 1.20490535e-01 1.57941265e-02 9.92588826e-01 1.94565352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.142557844 meters Centerline goodness : 0.221438 with order 3 Centerline is valid? [False, False] Translation: X:-19.63, Y:-0.19, Z:0.19 [[ 9.92689206e-01 -8.20712305e-03 -1.20419200e-01 -1.96271476e+01] [ 6.18442710e-03 9.99833608e-01 -1.71612453e-02 -1.90697635e-01] [ 1.20540007e-01 1.62910592e-02 9.92574787e-01 1.94677757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.202557844 meters Centerline goodness : 0.095430 with order 1 Centerline is valid? [False, False] Translation: X:-19.63, Y:-0.19, Z:0.19 [[ 9.92718316e-01 -8.62866327e-03 -1.20149455e-01 -1.96278333e+01] [ 6.57695473e-03 9.99825889e-01 -1.74623972e-02 -1.90192153e-01] [ 1.20279213e-01 1.65450240e-02 9.92602223e-01 1.94586299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.262557844 meters Centerline goodness : 0.222847 with order 3 Centerline is valid? [False, False] Translation: X:-19.63, Y:-0.19, Z:0.20 [[ 9.92862858e-01 -9.58150676e-03 -1.18876153e-01 -1.96318113e+01] [ 7.50806941e-03 9.99811992e-01 -1.78776151e-02 -1.91539069e-01] [ 1.19025098e-01 1.68574896e-02 9.92748131e-01 1.95202654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.322557844 meters Centerline goodness : 0.153185 with order 1 Centerline is valid? [False, False] Translation: X:-19.65, Y:-0.20, Z:0.19 [[ 9.92890974e-01 -2.45086131e-03 -1.19002131e-01 -1.96497277e+01] [ 1.36722222e-04 9.99810812e-01 -1.94504701e-02 -1.96986173e-01] [ 1.19027287e-01 1.92959259e-02 9.92703466e-01 1.90436687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.382557844 meters Centerline goodness : 0.222545 with order 3 Centerline is valid? [False, False] Translation: X:-19.65, Y:-0.20, Z:0.19 [[ 9.92895192e-01 -2.25452217e-03 -1.18970818e-01 -1.96497505e+01] [-1.95774342e-05 9.99817384e-01 -1.91101384e-02 -1.98404432e-01] [ 1.18992176e-01 1.89766937e-02 9.92713829e-01 1.90247139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.442557844 meters Centerline goodness : 0.096563 with order 1 Centerline is valid? [False, False] Translation: X:-19.66, Y:-0.20, Z:0.19 [[ 9.93003483e-01 4.83374161e-04 -1.18084075e-01 -1.96552129e+01] [-2.51044264e-03 9.99852029e-01 -1.70181766e-02 -1.95850221e-01] [ 1.18058376e-01 1.71955519e-02 9.92857761e-01 1.93313312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.502557844 meters Centerline goodness : 0.148866 with order 1 Centerline is valid? [False, False] Translation: X:-19.70, Y:-0.19, Z:0.19 [[ 9.92705504e-01 1.73922890e-03 -1.20551890e-01 -1.97009217e+01] [-3.76626702e-03 9.99855302e-01 -1.65888462e-02 -1.88415778e-01] [ 1.20505595e-01 1.69218695e-02 9.92568412e-01 1.89496588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.562557844 meters Centerline goodness : 0.096514 with order 1 Centerline is valid? [False, False] Translation: X:-19.70, Y:-0.19, Z:0.19 [[ 9.92567467e-01 3.90306243e-03 -1.21633010e-01 -1.96953469e+01] [-5.74061781e-03 9.99874577e-01 -1.47606113e-02 -1.85628367e-01] [ 1.21560143e-01 1.53491512e-02 9.92465382e-01 1.87045528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.622557844 meters Centerline goodness : 0.148403 with order 1 Centerline is valid? [False, False] Translation: X:-19.70, Y:-0.18, Z:0.19 [[ 9.92585427e-01 3.55005042e-03 -1.21497190e-01 -1.96954628e+01] [-5.42566033e-03 9.99871115e-01 -1.51101315e-02 -1.84091615e-01] [ 1.21427889e-01 1.56572988e-02 9.92476759e-01 1.86641900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68255784400003 meters Centerline goodness : 0.154117 with order 1 Centerline is valid? [False, False] Translation: X:-19.71, Y:-0.18, Z:0.18 [[ 9.92383482e-01 -5.43544847e-03 -1.23066975e-01 -1.97143947e+01] [ 3.66576585e-03 9.99886670e-01 -1.46016995e-02 -1.78019038e-01] [ 1.23132395e-01 1.40393506e-02 9.92290940e-01 1.83101560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74255784400003 meters Centerline goodness : 0.151916 with order 1 Centerline is valid? [False, False] Translation: X:-19.71, Y:-0.18, Z:0.18 [[ 9.92303015e-01 -5.67600561e-03 -1.23703314e-01 -1.97116718e+01] [ 3.87613662e-03 9.99883172e-01 -1.47857028e-02 -1.76810994e-01] [ 1.23772786e-01 1.41924065e-02 9.92209087e-01 1.81742971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.802557844 meters Centerline goodness : 0.151821 with order 1 Centerline is valid? [False, False] Translation: X:-19.71, Y:-0.18, Z:0.18 [[ 9.92320700e-01 -5.86465784e-03 -1.23552556e-01 -1.97122013e+01] [ 4.03484362e-03 9.99878526e-01 -1.50550230e-02 -1.75805754e-01] [ 1.23625841e-01 1.44408957e-02 9.92223822e-01 1.81934338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.862557844 meters Centerline goodness : 0.153003 with order 1 Centerline is valid? [False, False] Translation: X:-19.71, Y:-0.17, Z:0.18 [[ 9.92318650e-01 -6.00276496e-03 -1.23562384e-01 -1.97120492e+01] [ 4.13816937e-03 9.99873750e-01 -1.53414365e-02 -1.74455213e-01] [ 1.23638875e-01 1.47122715e-02 9.92218211e-01 1.81812886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.922557844 meters Centerline goodness : 0.151843 with order 1 Centerline is valid? [False, False] Translation: X:-19.71, Y:-0.17, Z:0.18 [[ 9.92366189e-01 -6.07193648e-03 -1.23176619e-01 -1.97134023e+01] [ 4.16678454e-03 9.99867774e-01 -1.57185474e-02 -1.72414994e-01] [ 1.23255774e-01 1.50853045e-02 9.92260272e-01 1.82405672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.982557844 meters Centerline goodness : 0.151392 with order 1 Centerline is valid? [False, False] Translation: X:-19.71, Y:-0.17, Z:0.18 [[ 9.92368385e-01 -6.07391240e-03 -1.23158825e-01 -1.97136942e+01] [ 4.13624216e-03 9.99863713e-01 -1.59826846e-02 -1.71069263e-01] [ 1.23239117e-01 1.53512962e-02 9.92258262e-01 1.82839484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.042557844 meters Centerline goodness : 0.150314 with order 1 Centerline is valid? [False, False] Translation: X:-19.71, Y:-0.17, Z:0.18 [[ 9.92406965e-01 -1.59980912e-03 -1.22987224e-01 -1.97149461e+01] [ 1.14682771e-04 9.99927008e-01 -1.20815831e-02 -1.71076344e-01] [ 1.22997575e-01 1.19757427e-02 9.92334711e-01 1.83699900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.102557844 meters Centerline goodness : 0.164160 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-0.17, Z:0.18 [[ 9.92468353e-01 -1.27501047e-03 -1.22494662e-01 -1.97170018e+01] [-1.83276765e-04 9.99929260e-01 -1.18928992e-02 -1.71375045e-01] [ 1.22501160e-01 1.18257766e-02 9.92397913e-01 1.84668863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.162557844 meters Centerline goodness : 0.156147 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-0.17, Z:0.19 [[ 9.92474046e-01 -1.20479637e-03 -1.22449241e-01 -1.97174184e+01] [-2.40696746e-04 9.99930474e-01 -1.17893576e-02 -1.71975419e-01] [ 1.22454931e-01 1.17301045e-02 9.92404753e-01 1.85016652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.222557844 meters Centerline goodness : 0.118752 with order 2 Centerline is valid? [False, False] Translation: X:-19.72, Y:-0.17, Z:0.19 [[ 9.92500863e-01 -8.25769250e-04 -1.22234832e-01 -1.97184761e+01] [-5.71673654e-04 9.99934889e-01 -1.13969321e-02 -1.73151568e-01] [ 1.22236284e-01 1.13813434e-02 9.92435769e-01 1.85604845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.282557844 meters Centerline goodness : 0.166159 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-0.17, Z:0.19 [[ 9.92481755e-01 -7.05927513e-04 -1.22390632e-01 -1.97178720e+01] [-6.77160703e-04 9.99936390e-01 -1.12586416e-02 -1.73679477e-01] [ 1.22390794e-01 1.12568745e-02 9.92418146e-01 1.85341764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.342557844 meters Centerline goodness : 0.229499 with order 3 Centerline is valid? [False, False] Translation: X:-19.72, Y:-0.17, Z:0.19 [[ 9.92488257e-01 -8.20137133e-04 -1.22337184e-01 -1.97185687e+01] [-5.71711448e-04 9.99935518e-01 -1.13416142e-02 -1.74056909e-01] [ 1.22338597e-01 1.13263605e-02 9.92423791e-01 1.85928052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.402557844 meters Centerline goodness : 0.115203 with order 3 Centerline is valid? [False, False] Translation: X:-19.72, Y:-0.17, Z:0.19 [[ 9.92413059e-01 3.32476000e-03 -1.22903482e-01 -1.97165216e+01] [-4.25697918e-03 9.99964124e-01 -7.32315310e-03 -1.74549732e-01] [ 1.22874725e-01 7.79079033e-03 9.92391609e-01 1.85104356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.462557844 meters Centerline goodness : 0.168673 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:-0.17, Z:0.19 [[ 9.92420289e-01 3.02370330e-03 -1.22852864e-01 -1.97167246e+01] [-4.02856862e-03 9.99960427e-01 -7.93184271e-03 -1.71778214e-01] [ 1.22824019e-01 8.36664283e-03 9.92393198e-01 1.85290168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.522557844 meters Centerline goodness : 0.146018 with order 1 Centerline is valid? [False, False] Translation: X:-19.71, Y:-0.17, Z:0.18 [[ 9.92366631e-01 2.64545401e-03 -1.23294249e-01 -1.97149158e+01] [-3.75173789e-03 9.99954755e-01 -8.74140673e-03 -1.67418039e-01] [ 1.23265545e-01 9.13724805e-03 9.92331656e-01 1.84592417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.582557844 meters Centerline goodness : 0.150969 with order 1 Centerline is valid? [False, False] Translation: X:-19.71, Y:-0.16, Z:0.18 [[ 9.92254421e-01 1.86192460e-03 -1.24208278e-01 -1.97115969e+01] [-3.08090413e-03 9.99948955e-01 -9.62263706e-03 -1.64241347e-01] [ 1.24184021e-01 9.93077797e-03 9.92209508e-01 1.83451329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.642557844 meters Centerline goodness : 0.155172 with order 1 Centerline is valid? [False, False] Translation: X:-19.73, Y:-0.16, Z:0.18 [[ 9.92159010e-01 -7.07591317e-03 -1.24781533e-01 -1.97317282e+01] [ 5.98263531e-03 9.99940386e-01 -9.13409060e-03 -1.57891407e-01] [ 1.24838726e-01 8.31594788e-03 9.92142196e-01 1.80300304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.702557844 meters Centerline goodness : 0.152249 with order 1 Centerline is valid? [False, False] Translation: X:-19.73, Y:-0.16, Z:0.18 [[ 9.92164261e-01 -7.18411234e-03 -1.24733584e-01 -1.97317171e+01] [ 6.09116153e-03 9.99939664e-01 -9.14145225e-03 -1.57917842e-01] [ 1.24791731e-01 8.31004981e-03 9.92148158e-01 1.80060529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.762557844 meters Centerline goodness : 0.153348 with order 1 Centerline is valid? [False, False] Translation: X:-19.73, Y:-0.16, Z:0.18 [[ 9.92198529e-01 -7.49237755e-03 -1.24442528e-01 -1.97328183e+01] [ 6.38968457e-03 9.99936730e-01 -9.25783085e-03 -1.58624331e-01] [ 1.24504018e-01 8.39045765e-03 9.92183627e-01 1.80403243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.822557844 meters Centerline goodness : 0.413094 with order 1 Centerline is valid? [False, False] Translation: X:-19.73, Y:-0.16, Z:0.18 [[ 9.92194156e-01 -7.34512773e-03 -1.24486171e-01 -1.97328355e+01] [ 6.25929106e-03 9.99938900e-01 -9.11142916e-03 -1.58691146e-01] [ 1.24545490e-01 8.26111158e-03 9.92179507e-01 1.80578023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.882557844 meters Centerline goodness : 0.156298 with order 1 Centerline is valid? [False, False] Translation: X:-19.78, Y:-0.16, Z:0.18 [[ 9.91915319e-01 -6.03579225e-03 -1.26757918e-01 -1.97795859e+01] [ 5.02985828e-03 9.99953281e-01 -8.25444911e-03 -1.55279363e-01] [ 1.26801818e-01 7.55014016e-03 9.91899337e-01 1.76681016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.942557844 meters Centerline goodness : 0.155446 with order 1 Centerline is valid? [False, False] Translation: X:-19.78, Y:-0.16, Z:0.18 [[ 9.91915968e-01 -5.93573323e-03 -1.26757562e-01 -1.97802915e+01] [ 4.94580237e-03 9.99954777e-01 -8.12294307e-03 -1.56093384e-01] [ 1.26800046e-01 7.43035909e-03 9.91900468e-01 1.77561654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.002557844 meters Centerline goodness : 0.150682 with order 1 Centerline is valid? [False, False] Translation: X:-19.78, Y:-0.16, Z:0.18 [[ 9.91961584e-01 -5.53525532e-03 -1.26418260e-01 -1.97822320e+01] [ 4.62864689e-03 9.99961430e-01 -7.46412688e-03 -1.58623002e-01] [ 1.26454700e-01 6.81898164e-03 9.91948945e-01 1.78757140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.062557844 meters Centerline goodness : 0.274683 with order 1 Centerline is valid? [False, False] Translation: X:-19.78, Y:-0.16, Z:0.18 [[ 9.91985482e-01 -5.20813438e-03 -1.26244519e-01 -1.97826736e+01] [ 4.39310780e-03 9.99967680e-01 -6.73349541e-03 -1.62167141e-01] [ 1.26275508e-01 6.12492391e-03 9.91976301e-01 1.78587329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.122557844 meters Centerline goodness : 0.151578 with order 1 Centerline is valid? [False, False] Translation: X:-19.78, Y:-0.17, Z:0.18 [[ 9.92021055e-01 -5.16329114e-03 -1.25966528e-01 -1.97834081e+01] [ 4.43529064e-03 9.99971807e-01 -6.05910063e-03 -1.67191814e-01] [ 1.25994262e-01 5.45205724e-03 9.92015988e-01 1.78385340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18255784400003 meters Centerline goodness : 0.148275 with order 1 Centerline is valid? [False, False] Translation: X:-19.78, Y:-0.18, Z:0.18 [[ 9.91829889e-01 -7.04609155e-03 -1.27372777e-01 -1.97787896e+01] [ 6.24337743e-03 9.99958063e-01 -6.70023635e-03 -1.76506107e-01] [ 1.27414646e-01 5.85025835e-03 9.91832285e-01 1.77356612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24255784400003 meters Centerline goodness : 0.148840 with order 1 Centerline is valid? [False, False] Translation: X:-19.78, Y:-0.18, Z:0.18 [[ 9.91880016e-01 -6.61818304e-03 -1.27004858e-01 -1.97798893e+01] [ 5.94897117e-03 9.99966356e-01 -5.64777411e-03 -1.82237956e-01] [ 1.27037963e-01 4.84636603e-03 9.91886016e-01 1.77319714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.302557844 meters Centerline goodness : 0.144162 with order 1 Centerline is valid? [False, False] Translation: X:-19.80, Y:-0.20, Z:0.17 [[ 9.92355968e-01 -1.45588343e-03 -1.23399813e-01 -1.98043496e+01] [ 5.85028457e-04 9.99974672e-01 -7.09312321e-03 -1.95147923e-01] [ 1.23407014e-01 6.96671074e-03 9.92331685e-01 1.74169243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.362557844 meters Centerline goodness : 0.145770 with order 1 Centerline is valid? [False, False] Translation: X:-19.80, Y:-0.20, Z:0.17 [[ 9.92319638e-01 -8.54402794e-04 -1.23697237e-01 -1.98036746e+01] [ 1.15792005e-04 9.99982124e-01 -5.97818396e-03 -2.00544362e-01] [ 1.23700134e-01 5.91794619e-03 9.92301998e-01 1.74115416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.422557844 meters Centerline goodness : 0.150178 with order 1 Centerline is valid? [False, False] Translation: X:-19.80, Y:-0.21, Z:0.17 [[ 9.92309804e-01 -2.92074095e-04 -1.23778701e-01 -1.98040332e+01] [-3.34377073e-04 9.99987242e-01 -5.04025337e-03 -2.05003887e-01] [ 1.23778594e-01 5.04288160e-03 9.92297047e-01 1.74640153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.482557844 meters Centerline goodness : 0.142396 with order 1 Centerline is valid? [False, False] Translation: X:-19.80, Y:-0.21, Z:0.17 [[ 9.92304638e-01 9.93810096e-04 -1.23816466e-01 -1.98039149e+01] [-1.45349229e-03 9.99992383e-01 -3.62233417e-03 -2.10193138e-01] [ 1.23811923e-01 3.77442528e-03 9.92298524e-01 1.74519458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.542557844 meters Centerline goodness : 0.137310 with order 1 Centerline is valid? [False, False] Translation: X:-19.85, Y:-0.21, Z:0.17 [[ 9.92019324e-01 2.50478732e-03 -1.26061040e-01 -1.98503565e+01] [-2.86425807e-03 9.99992333e-01 -2.67038283e-03 -2.09347245e-01] [ 1.26053385e-01 3.01014273e-03 9.92018893e-01 1.71101696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.602557844 meters Centerline goodness : 0.215460 with order 3 Centerline is valid? [False, False] Translation: X:-19.85, Y:-0.21, Z:0.17 [[ 9.91949131e-01 6.94760419e-03 -1.26446245e-01 -1.98495149e+01] [-6.83738951e-03 9.99975772e-01 1.30564007e-03 -2.10473069e-01] [ 1.26452252e-01 -4.30566307e-04 9.91972602e-01 1.71278348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.662557844 meters Centerline goodness : 0.130668 with order 1 Centerline is valid? [False, False] Translation: X:-19.85, Y:-0.21, Z:0.17 [[ 9.91955427e-01 7.15312174e-03 -1.26385381e-01 -1.98499041e+01] [-7.01366886e-03 9.99974205e-01 1.54836214e-03 -2.11171148e-01] [ 1.26393196e-01 -6.49481020e-04 9.91980009e-01 1.71518453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.722557844 meters Centerline goodness : 0.132692 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-0.21, Z:0.17 [[ 9.91799767e-01 5.75894579e-03 -1.27671675e-01 -1.98987698e+01] [-5.72664528e-03 9.99983410e-01 6.20065498e-04 -2.09239678e-01] [ 1.27673128e-01 1.16149579e-04 9.91816293e-01 1.68179775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.782557844 meters Centerline goodness : 0.092741 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-0.21, Z:0.17 [[ 9.91705996e-01 5.84165596e-03 -1.28394282e-01 -1.98963492e+01] [-5.83488435e-03 9.99982885e-01 4.28883478e-04 -2.06836407e-01] [ 1.28394590e-01 3.23839469e-04 9.91723109e-01 1.67584004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.842557844 meters Centerline goodness : 0.148252 with order 1 Centerline is valid? [False, False] Translation: X:-19.89, Y:-0.20, Z:0.17 [[ 9.91636380e-01 9.76633001e-03 -1.28693077e-01 -1.98946111e+01] [-9.40010321e-03 9.99949857e-01 3.45283509e-03 -2.02753346e-01] [ 1.28720345e-01 -2.21422868e-03 9.91678461e-01 1.66736876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.902557844 meters SLAMing on 495.962557844 meters SLAMing on 496.022557844 meters Centerline goodness : 0.136684 with order 1 Centerline is valid? [False, False] Translation: X:-19.95, Y:-0.17, Z:0.16 [[ 9.91678730e-01 1.19493824e-02 -1.28181546e-01 -1.99452839e+01] [-1.15609698e-02 9.99926048e-01 3.77379466e-03 -1.71770890e-01] [ 1.28217162e-01 -2.26048890e-03 9.91743540e-01 1.64752622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.082557844 meters Centerline goodness : 0.137033 with order 1 Centerline is valid? [False, False] Translation: X:-19.97, Y:-0.16, Z:0.16 [[ 9.92083651e-01 6.87490490e-03 -1.25390448e-01 -1.99667674e+01] [-6.15948697e-03 9.99962471e-01 6.09233460e-03 -1.63348272e-01] [ 1.25427627e-01 -5.27176473e-03 9.92088766e-01 1.61259806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.142557844 meters Centerline goodness : 0.138089 with order 1 Centerline is valid? [False, False] Translation: X:-19.97, Y:-0.16, Z:0.16 [[ 9.92089347e-01 1.05202531e-02 -1.25092176e-01 -1.99674663e+01] [-9.54157162e-03 9.99919025e-01 8.42026853e-03 -1.55480076e-01] [ 1.25170630e-01 -7.16008274e-03 9.92109392e-01 1.61402598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.202557844 meters Centerline goodness : 0.140167 with order 1 Centerline is valid? [False, False] Translation: X:-20.01, Y:-0.15, Z:0.16 [[ 9.91815462e-01 1.12300276e-02 -1.27184808e-01 -2.00141898e+01] [-1.02475929e-02 9.99912409e-01 8.37618021e-03 -1.46863359e-01] [ 1.27267733e-01 -7.00428691e-03 9.91843669e-01 1.57592692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.262557844 meters Centerline goodness : 0.302137 with order 1 Centerline is valid? [False, False] Translation: X:-20.02, Y:-0.14, Z:0.16 [[ 9.91921152e-01 1.37676888e-02 -1.26106615e-01 -2.00184298e+01] [-1.26383360e-02 9.99872584e-01 9.75128692e-03 -1.39395906e-01] [ 1.26224800e-01 -8.07872998e-03 9.91968767e-01 1.59064364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.322557844 meters Centerline goodness : 0.228979 with order 1 Centerline is valid? [False, False] Translation: X:-20.02, Y:-0.14, Z:0.16 [[ 9.91942029e-01 1.40154057e-02 -1.25914966e-01 -2.00190718e+01] [-1.29509439e-02 9.99873176e-01 9.26849772e-03 -1.35564416e-01] [ 1.26028899e-01 -7.56309478e-03 9.91997740e-01 1.59297327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.382557844 meters Centerline goodness : 0.408986 with order 1 Centerline is valid? [False, False] Translation: X:-20.04, Y:-0.13, Z:0.16 [[ 9.92085145e-01 9.97827205e-03 -1.25169881e-01 -2.00389626e+01] [-8.45847966e-03 9.99883988e-01 1.26674438e-02 -1.26258074e-01] [ 1.25281759e-01 -1.15084359e-02 9.92054452e-01 1.56255745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.442557844 meters Centerline goodness : 0.219425 with order 1 Centerline is valid? [False, False] Translation: X:-20.04, Y:-0.12, Z:0.16 [[ 9.92053759e-01 1.36360918e-02 -1.25073562e-01 -2.00384835e+01] [-1.18113092e-02 9.99812883e-01 1.53196764e-02 -1.21436531e-01] [ 1.25259060e-01 -1.37206600e-02 9.92029189e-01 1.55622878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.502557844 meters Centerline goodness : 0.414217 with order 2 Centerline is valid? [False, False] Translation: X:-20.08, Y:-0.12, Z:0.15 [[ 9.91645053e-01 1.60822894e-02 -1.27990033e-01 -2.00810365e+01] [-1.40388004e-02 9.99759429e-01 1.68521990e-02 -1.15172489e-01] [ 1.28230264e-01 -1.49145732e-02 9.91632268e-01 1.50630170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.562557844 meters Centerline goodness : 0.219026 with order 1 Centerline is valid? [False, False] Translation: X:-20.03, Y:-0.10, Z:0.16 [[ 9.91529651e-01 2.05915635e-02 -1.28237818e-01 -2.00347203e+01] [-1.84075960e-02 9.99665037e-01 1.81926744e-02 -1.04946085e-01] [ 1.28569479e-01 -1.56780262e-02 9.91576567e-01 1.55392614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.622557844 meters Centerline goodness : 0.220466 with order 1 Centerline is valid? [False, False] Translation: X:-20.03, Y:-0.10, Z:0.16 [[ 9.91515451e-01 2.09333277e-02 -1.28292271e-01 -2.00346829e+01] [-1.88175240e-02 9.99666566e-01 1.76821408e-02 -9.87084250e-02] [ 1.28619640e-01 -1.51179729e-02 9.91578759e-01 1.55433912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.68255784400003 meters Centerline goodness : 0.092915 with order 1 Centerline is valid? [False, False] Translation: X:-20.04, Y:-0.09, Z:0.16 [[ 9.91476003e-01 2.47088258e-02 -1.27925016e-01 -2.00354533e+01] [-2.23079736e-02 9.99547726e-01 2.01667374e-02 -9.13186683e-02] [ 1.28365456e-01 -1.71410883e-02 9.91578788e-01 1.55372178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74255784400003 meters Centerline goodness : 0.085005 with order 1 Centerline is valid? [False, False] Translation: X:-20.04, Y:-0.09, Z:0.15 [[ 9.91487493e-01 2.42497548e-02 -1.27923808e-01 -2.00351151e+01] [-2.19804498e-02 9.99575520e-01 1.91216966e-02 -8.59546384e-02] [ 1.28333203e-01 -1.61471002e-02 9.91599647e-01 1.54865399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.802557844 meters Centerline goodness : 0.215579 with order 3 Centerline is valid? [False, False] Translation: X:-20.05, Y:-0.08, Z:0.15 [[ 9.91524091e-01 1.60894097e-02 -1.28922873e-01 -2.00533725e+01] [-1.36562080e-02 9.99711974e-01 1.97351811e-02 -7.56675847e-02] [ 1.29203267e-01 -1.78073100e-02 9.91458227e-01 1.50737787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.862557844 meters Centerline goodness : 0.205851 with order 3 Centerline is valid? [False, False] Translation: X:-20.05, Y:-0.07, Z:0.15 [[ 9.91542759e-01 1.55641944e-02 -1.28843756e-01 -2.00538920e+01] [-1.32900316e-02 9.99740685e-01 1.84915736e-02 -6.72064178e-02] [ 1.29098151e-01 -1.66228483e-02 9.91492485e-01 1.50950071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.922557844 meters Centerline goodness : 0.095769 with order 1 Centerline is valid? [False, False] Translation: X:-20.05, Y:-0.06, Z:0.15 [[ 9.91565613e-01 1.51831645e-02 -1.28713272e-01 -2.00543449e+01] [-1.30099709e-02 9.99758554e-01 1.77080320e-02 -6.33355566e-02] [ 1.28951059e-01 -1.58841197e-02 9.91523736e-01 1.50985237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.982557844 meters Centerline goodness : 0.092717 with order 1 Centerline is valid? [False, False] Translation: X:-20.06, Y:-0.06, Z:0.15 [[ 9.91601403e-01 1.48894399e-02 -1.28471637e-01 -2.00556723e+01] [-1.28051946e-02 9.99772906e-01 1.70341851e-02 -5.97041513e-02] [ 1.28696091e-01 -1.52460175e-02 9.91566879e-01 1.51756031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.042557844 meters Centerline goodness : 0.092287 with order 1 Centerline is valid? [False, False] Translation: X:-20.06, Y:-0.06, Z:0.15 [[ 9.91742997e-01 1.50898766e-02 -1.27350397e-01 -2.00588920e+01] [-1.30879954e-02 9.99777514e-01 1.65416954e-02 -5.54941752e-02] [ 1.27571676e-01 -1.47383491e-02 9.91719844e-01 1.51989054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.102557844 meters Centerline goodness : 0.096617 with order 1 Centerline is valid? [False, False] Translation: X:-20.06, Y:-0.05, Z:0.15 [[ 9.91689759e-01 1.52065684e-02 -1.27750466e-01 -2.00577272e+01] [-1.32726251e-02 9.99784277e-01 1.59761578e-02 -5.16312827e-02] [ 1.27965850e-01 -1.41478081e-02 9.91677660e-01 1.51618017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.162557844 meters SLAMing on 497.222557844 meters Centerline goodness : 0.090812 with order 1 Centerline is valid? [False, False] Translation: X:-20.06, Y:-0.04, Z:0.15 [[ 9.91678092e-01 1.90352230e-02 -1.27327223e-01 -2.00590119e+01] [-1.68204544e-02 9.99688340e-01 1.84470712e-02 -4.47498442e-02] [ 1.27638684e-01 -1.61518547e-02 9.91689207e-01 1.51498615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.282557844 meters SLAMing on 497.342557844 meters SLAMing on 497.402557844 meters Centerline goodness : 0.085979 with order 1 Centerline is valid? [False, False] Translation: X:-20.07, Y:-0.03, Z:0.15 [[ 9.91503066e-01 8.70456022e-03 -1.29791761e-01 -2.00724442e+01] [-6.41873378e-03 9.99817033e-01 1.80194285e-02 -3.49167827e-02] [ 1.29924865e-01 -1.70332199e-02 9.91377526e-01 1.46480346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.462557844 meters Centerline goodness : 0.376395 with order 1 Centerline is valid? [False, False] Translation: X:-20.07, Y:-0.03, Z:0.15 [[ 9.91475360e-01 8.48812372e-03 -1.30017549e-01 -2.00713735e+01] [-6.26763423e-03 9.99827602e-01 1.74780674e-02 -3.17506683e-02] [ 1.30143490e-01 -1.65141707e-02 9.91357632e-01 1.45746143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.522557844 meters Centerline goodness : 0.122575 with order 1 Centerline is valid? [False, False] Translation: X:-20.07, Y:-0.03, Z:0.15 [[ 9.91416426e-01 8.29008117e-03 -1.30478905e-01 -2.00696486e+01] [-6.09371636e-03 9.99833097e-01 1.72233744e-02 -3.10541992e-02] [ 1.30599911e-01 -1.62804348e-02 9.91301473e-01 1.45078020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.582557844 meters Centerline goodness : 0.204530 with order 3 Centerline is valid? [False, False] Translation: X:-20.07, Y:-0.03, Z:0.15 [[ 9.91403957e-01 8.29253219e-03 -1.30573456e-01 -2.00695884e+01] [-6.07207166e-03 9.99830268e-01 1.73944144e-02 -3.22568035e-02] [ 1.30695538e-01 -1.64520399e-02 9.91286037e-01 1.45305478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.642557844 meters Centerline goodness : 0.219308 with order 3 Centerline is valid? [False, False] Translation: X:-20.07, Y:-0.03, Z:0.15 [[ 9.91555550e-01 8.28783237e-03 -1.29417551e-01 -2.00730291e+01] [-6.03653007e-03 9.99823732e-01 1.77782424e-02 -3.45708980e-02] [ 1.29542082e-01 -1.68468820e-02 9.91430800e-01 1.45901714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.702557844 meters SLAMing on 497.762557844 meters Centerline goodness : 0.219505 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.04, Z:0.14 [[ 9.91169044e-01 1.33139625e-02 -1.31934320e-01 -2.01161631e+01] [-1.07645335e-02 9.99741670e-01 2.00179205e-02 -4.05470417e-02] [ 1.32166755e-01 -1.84209317e-02 9.91056314e-01 1.41047482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.822557844 meters Centerline goodness : 0.123056 with order 2 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.04, Z:0.14 [[ 9.91237372e-01 1.34861781e-02 -1.31402415e-01 -2.01175944e+01] [-1.09557786e-02 9.99740734e-01 1.99608543e-02 -4.03812807e-02] [ 1.31637543e-01 -1.83463290e-02 9.91128130e-01 1.40825194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.882557844 meters Centerline goodness : 0.136903 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.04, Z:0.14 [[ 9.91262106e-01 1.37922709e-02 -1.31183879e-01 -2.01183365e+01] [-1.12013881e-02 9.99727768e-01 2.04674896e-02 -4.28639761e-02] [ 1.31430460e-01 -1.88192053e-02 9.91146746e-01 1.40983612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.942557844 meters Centerline goodness : 0.134665 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91256104e-01 1.41322415e-02 -1.31193049e-01 -2.01181028e+01] [-1.14636635e-02 9.99712196e-01 2.10738888e-02 -4.55581902e-02] [ 1.31453113e-01 -1.93856679e-02 9.91132824e-01 1.40749543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.002557844 meters Centerline goodness : 0.140193 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91274162e-01 1.03784714e-02 -1.31407087e-01 -2.01169847e+01] [-8.09239129e-03 9.99806692e-01 1.79190238e-02 -4.79038555e-02] [ 1.31567657e-01 -1.66992678e-02 9.91166528e-01 1.40008978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.062557844 meters Centerline goodness : 0.129441 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91305214e-01 6.50816993e-03 -1.31421519e-01 -2.01169584e+01] [-4.60285556e-03 9.99879934e-01 1.47963120e-02 -5.07517127e-02] [ 1.31502037e-01 -1.40627470e-02 9.91216149e-01 1.39921622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.122557844 meters Centerline goodness : 0.132402 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.06, Z:0.14 [[ 9.91273133e-01 7.05909185e-03 -1.31634896e-01 -2.01164835e+01] [-5.01201901e-03 9.99861407e-01 1.58759857e-02 -5.65183155e-02] [ 1.31728722e-01 -1.50776815e-02 9.91171129e-01 1.40204310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18255784400003 meters Centerline goodness : 0.133120 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.06, Z:0.14 [[ 9.91266232e-01 7.20456507e-03 -1.31678970e-01 -2.01161212e+01] [-5.12645226e-03 9.99857021e-01 1.61138559e-02 -5.80753493e-02] [ 1.31776236e-01 -1.52980753e-02 9.91161436e-01 1.39902441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24255784400003 meters Centerline goodness : 0.136127 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.06, Z:0.14 [[ 9.91291940e-01 7.81334036e-03 -1.31450525e-01 -2.01164229e+01] [-5.67534127e-03 9.99845581e-01 1.66314571e-02 -5.88835343e-02] [ 1.31560174e-01 -1.57406028e-02 9.91183209e-01 1.39468382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.302557844 meters Centerline goodness : 0.144056 with order 2 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.06, Z:0.14 [[ 9.91265752e-01 7.81156423e-03 -1.31647975e-01 -2.01153182e+01] [-5.68744772e-03 9.99847638e-01 1.65031168e-02 -5.84078639e-02] [ 1.31756832e-01 -1.56102335e-02 9.91159149e-01 1.38670799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.362557844 meters Centerline goodness : 0.133857 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.06, Z:0.14 [[ 9.91274612e-01 7.84406575e-03 -1.31579307e-01 -2.01152702e+01] [-5.75358420e-03 9.99851239e-01 1.62602840e-02 -5.68949125e-02] [ 1.31687280e-01 -1.53613541e-02 9.91172280e-01 1.38237569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.422557844 meters Centerline goodness : 0.131567 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91337859e-01 8.34737669e-03 -1.31070861e-01 -2.01166131e+01] [-6.30023911e-03 9.99851734e-01 1.60254804e-02 -5.30510432e-02] [ 1.31185198e-01 -1.50608877e-02 9.91243468e-01 1.37973033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.482557844 meters Centerline goodness : 0.150853 with order 3 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91333098e-01 8.12956693e-03 -1.31120552e-01 -2.01163219e+01] [-6.16856612e-03 9.99863078e-01 1.53549540e-02 -4.93706680e-02] [ 1.31227428e-01 -1.44130483e-02 9.91247510e-01 1.37536641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.542557844 meters Centerline goodness : 0.409201 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91345987e-01 7.87879968e-03 -1.31038384e-01 -2.01166098e+01] [-5.97310435e-03 9.99870704e-01 1.49297320e-02 -4.74014119e-02] [ 1.31139070e-01 -1.40178240e-02 9.91264871e-01 1.37540644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.602557844 meters Centerline goodness : 0.173565 with order 3 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91418471e-01 7.84283238e-03 -1.30491016e-01 -2.01181984e+01] [-5.91228338e-03 9.99867368e-01 1.51753376e-02 -4.92438241e-02] [ 1.30592726e-01 -1.42736102e-02 9.91333347e-01 1.37806984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.662557844 meters Centerline goodness : 0.198756 with order 3 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91389336e-01 7.99730410e-03 -1.30702822e-01 -2.01174157e+01] [-6.01203280e-03 9.99860601e-01 1.55767415e-02 -5.13141666e-02] [ 1.30809174e-01 -1.46568258e-02 9.91299217e-01 1.37634010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.722557844 meters Centerline goodness : 0.133932 with order 3 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91357709e-01 8.07912283e-03 -1.30937465e-01 -2.01162659e+01] [-6.08805908e-03 9.99859787e-01 1.55993988e-02 -5.10053426e-02] [ 1.31045135e-01 -1.46674292e-02 9.91267895e-01 1.36932976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.782557844 meters Centerline goodness : 0.126355 with order 2 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91410599e-01 7.99720356e-03 -1.30541442e-01 -2.01176440e+01] [-6.03738798e-03 9.99863157e-01 1.54018428e-02 -5.04316295e-02] [ 1.30646750e-01 -1.44814209e-02 9.91323214e-01 1.37238874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.842557844 meters Centerline goodness : 0.137813 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91373089e-01 7.99579114e-03 -1.30826088e-01 -2.01165417e+01] [-6.03978103e-03 9.99864075e-01 1.53411905e-02 -5.00223162e-02] [ 1.30930970e-01 -1.44186825e-02 9.91286630e-01 1.36735634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.902557844 meters Centerline goodness : 0.134066 with order 3 Centerline is valid? [False, False] Translation: X:-20.11, Y:-0.05, Z:0.14 [[ 9.91328833e-01 8.03365160e-03 -1.31158702e-01 -2.01149071e+01] [-6.05543865e-03 9.99861927e-01 1.54744703e-02 -5.07533103e-02] [ 1.31264909e-01 -1.45460651e-02 9.91240604e-01 1.35851929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.962557844 meters Centerline goodness : 0.130398 with order 1 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.05, Z:0.14 [[ 9.91355203e-01 4.06433047e-03 -1.31142449e-01 -2.01150170e+01] [-2.52821842e-03 9.99926262e-01 1.18776818e-02 -5.07869021e-02] [ 1.31181054e-01 -1.14434449e-02 9.91292378e-01 1.35705428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.022557844 meters Centerline goodness : 0.134148 with order 1 Centerline is valid? [False, False] Translation: X:-20.11, Y:-0.05, Z:0.14 [[ 9.91320497e-01 4.18662860e-03 -1.31400703e-01 -2.01144665e+01] [-2.60584273e-03 9.99922183e-01 1.21999157e-02 -5.25771843e-02] [ 1.31441555e-01 -1.17516169e-02 9.91254265e-01 1.35948347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.082557844 meters Centerline goodness : 0.122534 with order 3 Centerline is valid? [False, False] Translation: X:-20.12, Y:-0.06, Z:0.14 [[ 9.91462826e-01 1.68657196e-03 -1.30378757e-01 -2.01196718e+01] [-3.24493361e-04 9.99945160e-01 1.04676283e-02 -5.75319640e-02] [ 1.30389261e-01 -1.03359573e-02 9.91409002e-01 1.38230144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.142557844 meters Centerline goodness : 0.185956 with order 3 Centerline is valid? [False, False] Translation: X:-20.14, Y:-0.07, Z:0.13 [[ 9.91691077e-01 8.41270521e-03 -1.28366795e-01 -2.01387249e+01] [-7.22731431e-03 9.99926860e-01 9.69742059e-03 -6.79931514e-02] [ 1.28438987e-01 -8.68909830e-03 9.91679346e-01 1.33840722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.202557844 meters Centerline goodness : 0.130069 with order 1 Centerline is valid? [False, False] Translation: X:-20.14, Y:-0.07, Z:0.13 [[ 9.91685633e-01 8.72982154e-03 -1.28387677e-01 -2.01384090e+01] [-7.46102963e-03 9.99918497e-01 1.03601386e-02 -7.18500293e-02] [ 1.28467656e-01 -9.31609636e-03 9.91669941e-01 1.33601980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.262557844 meters Centerline goodness : 0.132916 with order 1 Centerline is valid? [False, False] Translation: X:-20.14, Y:-0.07, Z:0.13 [[ 9.91635997e-01 8.90715732e-03 -1.28758346e-01 -2.01372478e+01] [-7.62784349e-03 9.99916559e-01 1.04254983e-02 -7.15084445e-02] [ 1.28840464e-01 -9.35615084e-03 9.91621197e-01 1.33276286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.322557844 meters Centerline goodness : 0.218372 with order 3 Centerline is valid? [False, False] Translation: X:-20.14, Y:-0.07, Z:0.13 [[ 9.91655150e-01 8.95741930e-03 -1.28607267e-01 -2.01375130e+01] [-7.69461981e-03 9.99917219e-01 1.03125466e-02 -7.05971089e-02] [ 1.28688994e-01 -9.23690595e-03 9.91641983e-01 1.33006961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.382557844 meters Centerline goodness : 0.132503 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.07, Z:0.13 [[ 9.91918530e-01 1.80162752e-03 -1.26863642e-01 -2.01587471e+01] [-3.30829631e-04 9.99932505e-01 1.16136495e-02 -6.52867522e-02] [ 1.26876003e-01 -1.14778239e-02 9.91852176e-01 1.28364119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.442557844 meters Centerline goodness : 0.136753 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.06, Z:0.13 [[ 9.92049736e-01 2.06185875e-03 -1.25829528e-01 -2.01617084e+01] [-6.34143778e-04 9.99934983e-01 1.13854240e-02 -6.23534437e-02] [ 1.25844822e-01 -1.12151128e-02 9.91986543e-01 1.28479041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.502557844 meters Centerline goodness : 0.139282 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.06, Z:0.13 [[ 9.92080781e-01 1.94057825e-03 -1.25586457e-01 -2.01624788e+01] [-5.89932233e-04 9.99941601e-01 1.07910082e-02 -5.90530370e-02] [ 1.25600064e-01 -1.06314644e-02 9.92023990e-01 1.28397452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.562557844 meters Centerline goodness : 0.138550 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91983118e-01 2.10339501e-03 -1.26352953e-01 -2.01600603e+01] [-8.17340790e-04 9.99947346e-01 1.02292504e-02 -5.43521315e-02] [ 1.26367816e-01 -1.00439703e-02 9.91932605e-01 1.27590200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.622557844 meters Centerline goodness : 0.164324 with order 3 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91891080e-01 1.56865797e-03 -1.27081174e-01 -2.01576807e+01] [-4.19203419e-04 9.99958767e-01 9.07128189e-03 -4.87733220e-02] [ 1.27090164e-01 -8.94445073e-03 9.91850839e-01 1.26720190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.68255784400003 meters Centerline goodness : 0.137435 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91858721e-01 1.38167402e-03 -1.27335654e-01 -2.01575862e+01] [-2.55662965e-04 9.99960728e-01 8.85877740e-03 -4.78117084e-02] [ 1.27342894e-01 -8.75410061e-03 9.91820121e-01 1.27434215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74255784400003 meters Centerline goodness : 0.141727 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91841153e-01 1.21651224e-03 -1.27474104e-01 -2.01571390e+01] [-1.07757786e-04 9.99962110e-01 8.70441530e-03 -4.70918136e-02] [ 1.27479863e-01 -8.61966098e-03 9.91803703e-01 1.27368551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.802557844 meters Centerline goodness : 0.141050 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91786197e-01 8.30815458e-04 -1.27904061e-01 -2.01559015e+01] [ 2.58202901e-04 9.99963862e-01 8.49752149e-03 -4.72614576e-02] [ 1.27906499e-01 -8.46074972e-03 9.91750142e-01 1.27268594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.862557844 meters Centerline goodness : 0.116423 with order 3 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91757529e-01 8.62842507e-04 -1.28125952e-01 -2.01555744e+01] [ 2.57171661e-04 9.99961906e-01 8.72470837e-03 -4.83687479e-02] [ 1.28128600e-01 -8.68574558e-03 9.91719527e-01 1.27689418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.922557844 meters Centerline goodness : 0.206518 with order 3 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91733355e-01 7.97030623e-04 -1.28313354e-01 -2.01551597e+01] [ 3.30840414e-04 9.99961502e-01 8.76842024e-03 -4.92724373e-02] [ 1.28315403e-01 -8.73838607e-03 9.91694912e-01 1.27863001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.982557844 meters Centerline goodness : 0.104319 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91789774e-01 8.31045809e-04 -1.27876322e-01 -2.01562828e+01] [ 2.85684001e-04 9.99961989e-01 8.71430042e-03 -4.85961820e-02] [ 1.27878704e-01 -8.67928626e-03 9.91751837e-01 1.27732611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.042557844 meters Centerline goodness : 0.145477 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91887490e-01 8.35542556e-04 -1.27116128e-01 -2.01593059e+01] [ 2.61765458e-04 9.99962853e-01 8.61537730e-03 -4.78040725e-02] [ 1.27118604e-01 -8.57875957e-03 9.91850425e-01 1.28881467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.102557844 meters Centerline goodness : 0.409874 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91863464e-01 9.32116127e-04 -1.27302791e-01 -2.01588816e+01] [ 1.89950983e-04 9.99961246e-01 8.80173510e-03 -4.86315267e-02] [ 1.27306062e-01 -8.75430075e-03 9.91824848e-01 1.28971426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.162557844 meters Centerline goodness : 0.166840 with order 3 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91830026e-01 1.03476781e-03 -1.27562258e-01 -2.01575648e+01] [ 1.18239941e-04 9.99959214e-01 9.03088069e-03 -4.99364805e-02] [ 1.27566400e-01 -8.97218158e-03 9.91789450e-01 1.28225626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.222557844 meters Centerline goodness : 0.139654 with order 3 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91789993e-01 1.09229026e-03 -1.27872656e-01 -2.01565827e+01] [ 5.45692747e-05 9.99959813e-01 8.96491608e-03 -4.92900039e-02] [ 1.27877309e-01 -8.89829198e-03 9.91750076e-01 1.27957149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.282557844 meters Centerline goodness : 0.139891 with order 1 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.91836479e-01 1.56341941e-03 -1.27506681e-01 -2.01578689e+01] [-4.24355471e-04 9.99959768e-01 8.96004244e-03 -4.70803864e-02] [ 1.27515559e-01 -8.83278879e-03 9.91797239e-01 1.28167487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.342557844 meters Centerline goodness : 0.126350 with order 2 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.04, Z:0.13 [[ 9.91939885e-01 1.88849532e-03 -1.26695298e-01 -2.01607660e+01] [-8.03936186e-04 9.99962602e-01 8.61096142e-03 -4.32207272e-02] [ 1.26706821e-01 -8.43970114e-03 9.91904306e-01 1.28776935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.402557844 meters Centerline goodness : 0.141005 with order 3 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.04, Z:0.13 [[ 9.91933889e-01 1.55140421e-03 -1.26746806e-01 -2.01607042e+01] [-5.57233853e-04 9.99968806e-01 7.87883107e-03 -3.96639815e-02] [ 1.26755076e-01 -7.74465193e-03 9.91903811e-01 1.28687929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.462557844 meters Centerline goodness : 0.141178 with order 3 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.04, Z:0.13 [[ 9.91892347e-01 1.20234551e-03 -1.27075280e-01 -2.01597495e+01] [-2.89814210e-04 9.99974043e-01 7.19927434e-03 -3.64798086e-02] [ 1.27080638e-01 -7.10407689e-03 9.91866949e-01 1.28441658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.522557844 meters Centerline goodness : 0.144947 with order 3 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.04, Z:0.13 [[ 9.91847843e-01 4.05357595e-04 -1.27427201e-01 -2.01592947e+01] [ 4.38295882e-04 9.99978173e-01 6.59256083e-03 -3.52157794e-02] [ 1.27427092e-01 -6.59466805e-03 9.91826016e-01 1.29015184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.582557844 meters Centerline goodness : 0.154045 with order 2 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.04, Z:0.13 [[ 9.91864372e-01 -2.20462626e-03 -1.27280037e-01 -2.01613177e+01] [ 2.82507020e-03 9.99984991e-01 4.69432070e-03 -3.77129352e-02] [ 1.27267777e-01 -5.01570449e-03 9.91855713e-01 1.30572361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.642557844 meters Centerline goodness : 0.101933 with order 1 Centerline is valid? [False, False] Translation: X:-20.14, Y:-0.04, Z:0.13 [[ 9.92013862e-01 -1.35640670e-02 -1.25397426e-01 -2.01438966e+01] [ 1.41518109e-02 9.99892647e-01 3.79738038e-03 -3.84725126e-02] [ 1.25332457e-01 -5.54165464e-03 9.92099322e-01 1.34622622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.702557844 meters Centerline goodness : 0.246895 with order 3 Centerline is valid? [False, False] Translation: X:-20.14, Y:-0.04, Z:0.13 [[ 9.92051023e-01 -1.32680688e-02 -1.25134829e-01 -2.01445595e+01] [ 1.39407395e-02 9.99892691e-01 4.50138327e-03 -4.16891818e-02] [ 1.25061677e-01 -6.21007393e-03 9.92129534e-01 1.34791350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.762557844 meters Centerline goodness : 0.184084 with order 3 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.92116533e-01 -5.92550094e-03 -1.25178569e-01 -2.01621058e+01] [ 6.36366183e-03 9.99974944e-01 3.10070353e-03 -5.03049729e-02] [ 1.25157060e-01 -3.87285332e-03 9.92129382e-01 1.30538254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.822557844 meters Centerline goodness : 0.129960 with order 2 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.92072175e-01 -5.63537949e-03 -1.25542993e-01 -2.01612137e+01] [ 6.09465944e-03 9.99976066e-01 3.27455497e-03 -5.07389333e-02] [ 1.25521535e-01 -4.01373666e-03 9.92082776e-01 1.30543234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.882557844 meters Centerline goodness : 0.133743 with order 2 Centerline is valid? [False, False] Translation: X:-20.16, Y:-0.05, Z:0.13 [[ 9.92122500e-01 -5.22017569e-03 -1.25162673e-01 -2.01622385e+01] [ 5.67509531e-03 9.99978523e-01 3.27834299e-03 -4.90464130e-02] [ 1.25142872e-01 -3.96282794e-03 9.92130817e-01 1.30417700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.942557844 meters Centerline goodness : 0.219373 with order 3 Centerline is valid? [False, False] Translation: X:-20.14, Y:-0.05, Z:0.13 [[ 9.92534297e-01 3.90798426e-03 -1.21903225e-01 -2.01445521e+01] [-3.62181188e-03 9.99990141e-01 2.56903152e-03 -4.71233995e-02] [ 1.21912063e-01 -2.10834134e-03 9.92538666e-01 1.33277190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.002557844 meters Centerline goodness : 0.148428 with order 1 Centerline is valid? [False, False] Translation: X:-20.19, Y:-0.05, Z:0.13 [[ 9.92252316e-01 4.05044159e-03 -1.24173003e-01 -2.01904607e+01] [-3.80097042e-03 9.99990254e-01 2.24590215e-03 -4.75604046e-02] [ 1.24180890e-01 -1.75652370e-03 9.92258042e-01 1.29018939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.062557844 meters Centerline goodness : 0.155525 with order 1 Centerline is valid? [False, False] Translation: X:-20.19, Y:-0.04, Z:0.13 [[ 9.92116215e-01 3.93704918e-03 -1.25259389e-01 -2.01871949e+01] [-3.78568993e-03 9.99991788e-01 1.44637848e-03 -4.28186957e-02] [ 1.25264055e-01 -9.60782333e-04 9.92122973e-01 1.28238660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.122557844 meters Centerline goodness : 0.242769 with order 3 Centerline is valid? [False, False] Translation: X:-20.19, Y:-0.04, Z:0.13 [[ 9.92060788e-01 3.71474286e-03 -1.25704393e-01 -2.01858576e+01] [-3.65421704e-03 9.99993070e-01 7.12080732e-04 -3.82851978e-02] [ 1.25706168e-01 -2.47076235e-04 9.92067487e-01 1.27894255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.18255784400003 meters Centerline goodness : 0.224944 with order 3 Centerline is valid? [False, False] Translation: X:-20.19, Y:-0.03, Z:0.13 [[ 9.92080892e-01 3.17671811e-03 -1.25560391e-01 -2.01866304e+01] [-3.27772968e-03 9.99994449e-01 -5.97899552e-04 -3.01142575e-02] [ 1.25557794e-01 1.00471774e-03 9.92085798e-01 1.28095079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24255784400003 meters Centerline goodness : 0.239542 with order 3 Centerline is valid? [False, False] Translation: X:-20.19, Y:-0.02, Z:0.13 [[ 9.92082665e-01 2.75763881e-03 -1.25556285e-01 -2.01867990e+01] [-2.97556770e-03 9.99994375e-01 -1.54819679e-03 -2.49946382e-02] [ 1.25551310e-01 1.90954042e-03 9.92085290e-01 1.28090444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.302557844 meters Centerline goodness : 0.236688 with order 3 Centerline is valid? [False, False] Translation: X:-20.19, Y:-0.02, Z:0.13 [[ 9.92128707e-01 2.16654143e-03 -1.25203571e-01 -2.01881195e+01] [-2.52891563e-03 9.99993061e-01 -2.73541237e-03 -1.89734432e-02] [ 1.25196775e-01 3.03051041e-03 9.92127302e-01 1.28404241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.362557844 meters Centerline goodness : 0.232094 with order 3 Centerline is valid? [False, False] Translation: X:-20.19, Y:-0.02, Z:0.13 [[ 9.92119257e-01 1.86037414e-03 -1.25283357e-01 -2.01883153e+01] [-2.30385560e-03 9.99991583e-01 -3.39503215e-03 -1.53501252e-02] [ 1.25275987e-01 3.65691154e-03 9.92115192e-01 1.28791519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.422557844 meters Centerline goodness : 0.233930 with order 3 Centerline is valid? [False, False] Translation: X:-20.19, Y:-0.01, Z:0.13 [[ 9.92096771e-01 1.65088033e-03 -1.25464224e-01 -2.01882669e+01] [-2.15458789e-03 9.99990155e-01 -3.87915853e-03 -1.24561130e-02] [ 1.25456584e-01 4.11882435e-03 9.92090561e-01 1.29256187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.482557844 meters Centerline goodness : 0.240672 with order 3 Centerline is valid? [False, False] Translation: X:-20.19, Y:-0.01, Z:0.13 [[ 9.92132128e-01 1.42694166e-03 -1.25187079e-01 -2.01895014e+01] [-1.96790247e-03 9.99989253e-01 -4.19766119e-03 -1.11449189e-02] [ 1.25179744e-01 4.41099049e-03 9.92124274e-01 1.29888764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.542557844 meters SLAMing on 501.602557844 meters Centerline goodness : 0.154276 with order 1 Centerline is valid? [False, False] Translation: X:-20.23, Y:-0.01, Z:0.12 [[ 9.91846895e-01 9.64381315e-04 -1.27431576e-01 -2.02338010e+01] [-1.62776192e-03 9.99985661e-01 -5.10174272e-03 -1.12711308e-02] [ 1.27424829e-01 5.26757594e-03 9.91834243e-01 1.24842840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.662557844 meters Centerline goodness : 0.227303 with order 3 Centerline is valid? [False, False] Translation: X:-20.23, Y:-0.01, Z:0.12 [[ 9.91814410e-01 8.10584873e-04 -1.27685235e-01 -2.02329562e+01] [-1.55782479e-03 9.99982241e-01 -5.75244738e-03 -6.87130725e-03] [ 1.27678304e-01 5.90427142e-03 9.91798059e-01 1.24546316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.722557844 meters Centerline goodness : 0.246185 with order 3 Centerline is valid? [False, False] Translation: X:-20.23, Y:-0.00, Z:0.12 [[ 9.91798442e-01 4.38281090e-04 -1.27811025e-01 -2.02324737e+01] [-1.28158667e-03 9.99977950e-01 -6.51590294e-03 -3.49495871e-03] [ 1.27805351e-01 6.62626329e-03 9.91777135e-01 1.24224473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.782557844 meters Centerline goodness : 0.245136 with order 3 Centerline is valid? [False, False] Translation: X:-20.23, Y:-0.00, Z:0.12 [[ 9.91806693e-01 2.96817732e-04 -1.27747392e-01 -2.02328588e+01] [-1.17506346e-03 9.99976192e-01 -6.79955279e-03 -2.20412489e-03] [ 1.27742332e-01 6.89395326e-03 9.91783429e-01 1.24408856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.842557844 meters Centerline goodness : 0.149810 with order 3 Centerline is valid? [False, False] Translation: X:-20.25, Y:0.00, Z:0.12 [[ 9.92082524e-01 -6.49188567e-03 -1.25419781e-01 -2.02525605e+01] [ 5.79886908e-03 9.99965841e-01 -5.88987824e-03 4.83543710e-03] [ 1.25453733e-01 5.11595238e-03 9.92086280e-01 1.19917469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.902557844 meters Centerline goodness : 0.151035 with order 3 Centerline is valid? [False, False] Translation: X:-20.25, Y:0.01, Z:0.12 [[ 9.92034094e-01 -6.75989733e-03 -1.25788152e-01 -2.02514680e+01] [ 6.02463903e-03 9.99962478e-01 -6.22472265e-03 5.59876414e-03] [ 1.25825511e-01 5.41730889e-03 9.92037597e-01 1.19771178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.962557844 meters Centerline goodness : 0.239428 with order 3 Centerline is valid? [False, False] Translation: X:-20.25, Y:0.01, Z:0.12 [[ 9.92026414e-01 -6.78852571e-03 -1.25847169e-01 -2.02519654e+01] [ 6.04787396e-03 9.99962077e-01 -6.26647029e-03 6.26176979e-03] [ 1.25884936e-01 5.45539624e-03 9.92029849e-01 1.20569187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.022557844 meters Centerline goodness : 0.097527 with order 1 Centerline is valid? [False, False] Translation: X:-20.25, Y:0.00, Z:0.12 [[ 9.92017853e-01 -6.96877695e-03 -1.25904790e-01 -2.02517908e+01] [ 6.24212682e-03 9.99961513e-01 -6.16503550e-03 4.76250232e-03] [ 1.25942907e-01 5.32991161e-03 9.92023173e-01 1.20631867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.082557844 meters Centerline goodness : 0.237684 with order 3 Centerline is valid? [False, False] Translation: X:-20.25, Y:0.00, Z:0.12 [[ 9.92051119e-01 -7.12384988e-03 -1.25633709e-01 -2.02526501e+01] [ 6.44500130e-03 9.99962358e-01 -5.80903789e-03 2.15315430e-03] [ 1.25670363e-01 4.95315312e-03 9.92059689e-01 1.20973436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.142557844 meters Centerline goodness : 0.254477 with order 3 Centerline is valid? [False, False] Translation: X:-20.26, Y:-0.00, Z:0.12 [[ 9.92134369e-01 -8.58716561e-03 -1.24882560e-01 -2.02555911e+01] [ 7.84944127e-03 9.99948723e-01 -6.39820985e-03 -3.65684546e-03] [ 1.24931099e-01 5.36762557e-03 9.92150900e-01 1.22051795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.202557844 meters Centerline goodness : 0.257647 with order 3 Centerline is valid? [False, False] Translation: X:-20.25, Y:-0.01, Z:0.12 [[ 9.92120995e-01 -8.48373686e-03 -1.24995833e-01 -2.02546492e+01] [ 7.77696087e-03 9.99950901e-01 -6.14127801e-03 -5.28925112e-03] [ 1.25041796e-01 5.12080315e-03 9.92138260e-01 1.21288001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.262557844 meters Centerline goodness : 0.096857 with order 1 Centerline is valid? [False, False] Translation: X:-20.25, Y:-0.00, Z:0.12 [[ 9.92134418e-01 -8.39962877e-03 -1.24894930e-01 -2.02548545e+01] [ 7.69280414e-03 9.99951556e-01 -6.14057033e-03 -4.85932385e-03] [ 1.24940458e-01 5.13147893e-03 9.92150971e-01 1.21120425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.322557844 meters Centerline goodness : 0.235332 with order 3 Centerline is valid? [False, False] Translation: X:-20.28, Y:-0.01, Z:0.12 [[ 9.92152372e-01 -2.37521380e-03 -1.25012118e-01 -2.02773983e+01] [ 1.27930657e-03 9.99960055e-01 -8.84595742e-03 -1.06562145e-02] [ 1.25028136e-01 8.61660881e-03 9.92115779e-01 1.19053830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.382557844 meters Centerline goodness : 0.237939 with order 3 Centerline is valid? [False, False] Translation: X:-20.28, Y:-0.02, Z:0.12 [[ 9.92190038e-01 -2.07467774e-03 -1.24718182e-01 -2.02783753e+01] [ 1.08306824e-03 9.99967268e-01 -8.01807961e-03 -1.51486087e-02] [ 1.24730735e-01 7.82038041e-03 9.92159808e-01 1.19409597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.442557844 meters Centerline goodness : 0.230071 with order 3 Centerline is valid? [False, False] Translation: X:-20.28, Y:-0.02, Z:0.12 [[ 9.92186442e-01 -1.78214097e-03 -1.24751302e-01 -2.02779329e+01] [ 8.76436984e-04 9.99972864e-01 -7.31458266e-03 -1.90079319e-02] [ 1.24760953e-01 7.14809309e-03 9.92161080e-01 1.19044029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.502557844 meters Centerline goodness : 0.163307 with order 1 Centerline is valid? [False, False] Translation: X:-20.28, Y:-0.03, Z:0.12 [[ 9.92193089e-01 -1.14769310e-03 -1.24705881e-01 -2.02779478e+01] [ 3.94968349e-04 9.99981557e-01 -6.06055670e-03 -2.61481432e-02] [ 1.24710537e-01 5.96398760e-03 9.92175243e-01 1.18977288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.562557844 meters Centerline goodness : 0.233801 with order 3 Centerline is valid? [False, False] Translation: X:-20.30, Y:-0.03, Z:0.12 [[ 9.92220421e-01 5.31798367e-03 -1.24379886e-01 -2.02990525e+01] [-6.40289976e-03 9.99944851e-01 -8.32447703e-03 -3.39974058e-02] [ 1.24328757e-01 9.05610804e-03 9.92199752e-01 1.15821184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.622557844 meters Centerline goodness : 0.160638 with order 1 Centerline is valid? [False, False] Translation: X:-20.30, Y:-0.04, Z:0.11 [[ 9.92096111e-01 6.09989182e-03 -1.25331952e-01 -2.02958874e+01] [-7.12640327e-03 9.99944624e-01 -7.74361938e-03 -3.53146869e-02] [ 1.25277776e-01 8.57558070e-03 9.92084643e-01 1.14819361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.68255784400003 meters Centerline goodness : 0.159638 with order 1 Centerline is valid? [False, False] Translation: X:-20.30, Y:-0.03, Z:0.11 [[ 9.92115198e-01 6.46049428e-03 -1.25162676e-01 -2.02963027e+01] [-7.47415278e-03 9.99942952e-01 -7.63082801e-03 -3.48293632e-02] [ 1.25106237e-01 8.50614541e-03 9.92106887e-01 1.14625130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74255784400003 meters Centerline goodness : 0.161519 with order 1 Centerline is valid? [False, False] Translation: X:-20.30, Y:-0.03, Z:0.11 [[ 9.92173429e-01 6.43890543e-03 -1.24701351e-01 -2.02976495e+01] [-7.47689998e-03 9.99941175e-01 -7.85761198e-03 -3.36865955e-02] [ 1.24643421e-01 8.72849335e-03 9.92163208e-01 1.14649451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.802557844 meters Centerline goodness : 0.156615 with order 1 Centerline is valid? [False, False] Translation: X:-20.30, Y:-0.03, Z:0.11 [[ 9.92136280e-01 6.71988743e-03 -1.24981782e-01 -2.02968634e+01] [-7.80694119e-03 9.99935822e-01 -8.20994400e-03 -3.01278921e-02] [ 1.24918591e-01 9.12110872e-03 9.92125068e-01 1.14378985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.862557844 meters Centerline goodness : 0.157795 with order 1 Centerline is valid? [False, False] Translation: X:-20.29, Y:-0.02, Z:0.11 [[ 9.91997313e-01 6.84285368e-03 -1.26073418e-01 -2.02935133e+01] [-8.02845898e-03 9.99928179e-01 -8.89836679e-03 -2.45992832e-02] [ 1.26003473e-01 9.83933121e-03 9.91981004e-01 1.13542484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.922557844 meters Centerline goodness : 0.383643 with order 3 Centerline is valid? [False, False] Translation: X:-20.29, Y:-0.02, Z:0.11 [[ 9.91939135e-01 1.05502309e-02 -1.26275272e-01 -2.02926052e+01] [-1.14534341e-02 9.99913741e-01 -6.42872210e-03 -1.70455800e-02] [ 1.26196555e-01 7.82318655e-03 9.91974409e-01 1.13039903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.982557844 meters Centerline goodness : 0.235780 with order 3 Centerline is valid? [False, False] Translation: X:-20.32, Y:-0.01, Z:0.11 [[ 9.92364174e-01 2.09575264e-03 -1.23324591e-01 -2.03173213e+01] [-2.94550866e-03 9.99973160e-01 -6.70848265e-03 -1.06853678e-02] [ 1.23307222e-01 7.02051149e-03 9.92343711e-01 1.10340173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.042557844 meters Centerline goodness : 0.104865 with order 1 Centerline is valid? [False, False] Translation: X:-20.32, Y:-0.01, Z:0.11 [[ 9.92479750e-01 -3.98321582e-04 -1.22408280e-01 -2.03223667e+01] [-6.50105994e-04 9.99963451e-01 -8.52494667e-03 -1.16618136e-02] [ 1.22407202e-01 8.54041530e-03 9.92443217e-01 1.12818530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.102557844 meters Centerline goodness : 0.211799 with order 3 Centerline is valid? [False, False] Translation: X:-20.32, Y:-0.01, Z:0.11 [[ 9.92527178e-01 -4.43172613e-03 -1.21943267e-01 -2.03237306e+01] [ 3.02891763e-03 9.99927120e-01 -1.16867467e-02 -1.35462970e-02] [ 1.21986173e-01 1.12300576e-02 9.92468266e-01 1.13098507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.162557844 meters Centerline goodness : 0.101808 with order 1 Centerline is valid? [False, False] Translation: X:-20.33, Y:-0.01, Z:0.11 [[ 9.92646184e-01 -4.71577998e-03 -1.20959970e-01 -2.03268560e+01] [ 3.33497845e-03 9.99926979e-01 -1.16152641e-02 -1.49196131e-02] [ 1.21005912e-01 1.11264487e-02 9.92589427e-01 1.13909727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.222557844 meters Centerline goodness : 0.206822 with order 1 Centerline is valid? [False, False] Translation: X:-20.33, Y:-0.02, Z:0.11 [[ 9.92666861e-01 -4.64538435e-03 -1.20792893e-01 -2.03273853e+01] [ 3.29887679e-03 9.99930204e-01 -1.13448268e-02 -1.65980729e-02] [ 1.20837164e-01 1.08631528e-02 9.92612901e-01 1.14080762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.282557844 meters Centerline goodness : 0.239006 with order 3 Centerline is valid? [False, False] Translation: X:-20.33, Y:-0.02, Z:0.11 [[ 9.92669147e-01 -4.26316494e-03 -1.20788206e-01 -2.03268476e+01] [ 3.01257549e-03 9.99939975e-01 -1.05342927e-02 -2.09885080e-02] [ 1.20825865e-01 1.00931837e-02 9.92622405e-01 1.13430232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.342557844 meters Centerline goodness : 0.095773 with order 1 Centerline is valid? [False, False] Translation: X:-20.35, Y:-0.03, Z:0.11 [[ 9.92625673e-01 6.25423570e-04 -1.21218327e-01 -2.03464567e+01] [-2.31217448e-03 9.99902449e-01 -1.37748246e-02 -3.28928312e-02] [ 1.21197887e-01 1.39535224e-02 9.92530287e-01 1.09715965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.402557844 meters SLAMing on 503.462557844 meters Centerline goodness : 0.163724 with order 1 Centerline is valid? [False, False] Translation: X:-20.36, Y:-0.05, Z:0.10 [[ 9.92327629e-01 8.97743979e-03 -1.23309702e-01 -2.03625434e+01] [-1.08461081e-02 9.99836168e-01 -1.44913474e-02 -4.50802207e-02] [ 1.23159404e-01 1.57175948e-02 9.92262424e-01 1.04590674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.522557844 meters Centerline goodness : 0.159006 with order 1 Centerline is valid? [False, False] Translation: X:-20.36, Y:-0.04, Z:0.10 [[ 9.92174469e-01 1.22687678e-02 -1.24254985e-01 -2.03571005e+01] [-1.38616244e-02 9.99832359e-01 -1.19628098e-02 -4.36193647e-02] [ 1.24087386e-01 1.35915704e-02 9.92178205e-01 1.01718174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.582557844 meters Centerline goodness : 0.162721 with order 1 Centerline is valid? [False, False] Translation: X:-20.36, Y:-0.04, Z:0.10 [[ 9.92161290e-01 1.23665916e-02 -1.24350482e-01 -2.03571082e+01] [-1.39975359e-02 9.99826982e-01 -1.22505468e-02 -4.17304063e-02] [ 1.24177470e-01 1.38951186e-02 9.92162729e-01 1.01847380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.642557844 meters Centerline goodness : 0.157561 with order 1 Centerline is valid? [False, False] Translation: X:-20.34, Y:-0.04, Z:0.11 [[ 9.92720798e-01 5.82960522e-03 -1.20297266e-01 -2.03432795e+01] [-7.09268055e-03 9.99924100e-01 -1.00741170e-02 -3.55138346e-02] [ 1.20229408e-01 1.08540156e-02 9.92686798e-01 1.06334723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.702557844 meters Centerline goodness : 0.158301 with order 1 Centerline is valid? [False, False] Translation: X:-20.34, Y:-0.04, Z:0.11 [[ 9.92736429e-01 5.82563672e-03 -1.20168400e-01 -2.03436495e+01] [-7.08539069e-03 9.99924308e-01 -1.00586317e-02 -3.55313424e-02] [ 1.20100707e-01 1.08370102e-02 9.92702563e-01 1.06369623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.762557844 meters Centerline goodness : 0.243294 with order 3 Centerline is valid? [False, False] Translation: X:-20.39, Y:-0.04, Z:0.10 [[ 9.92481416e-01 4.41848593e-03 -1.22315642e-01 -2.03904211e+01] [-5.79973352e-03 9.99923350e-01 -1.09387521e-02 -3.93916267e-02] [ 1.22257933e-01 1.15659063e-02 9.92430969e-01 1.02871540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.822557844 meters Centerline goodness : 0.166862 with order 1 Centerline is valid? [False, False] Translation: X:-20.39, Y:-0.04, Z:0.10 [[ 9.92545887e-01 4.15111971e-03 -1.21800782e-01 -2.03926809e+01] [-5.52785774e-03 9.99924576e-01 -1.09674652e-02 -4.00425917e-02] [ 1.21746068e-01 1.15590099e-02 9.92493972e-01 1.04093859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.882557844 meters Centerline goodness : 0.104568 with order 1 Centerline is valid? [False, False] Translation: X:-20.40, Y:-0.04, Z:0.10 [[ 9.92675645e-01 3.78460839e-03 -1.20750738e-01 -2.03957473e+01] [-5.15606347e-03 9.99925683e-01 -1.10473155e-02 -4.04691783e-02] [ 1.20699954e-01 1.15889995e-02 9.92621386e-01 1.04568812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.942557844 meters Centerline goodness : 0.170125 with order 1 Centerline is valid? [False, False] Translation: X:-20.39, Y:-0.04, Z:0.10 [[ 9.92643950e-01 3.68590635e-03 -1.21014058e-01 -2.03949269e+01] [-5.07604028e-03 9.99924605e-01 -1.11811160e-02 -3.99696445e-02] [ 1.20963721e-01 1.17131394e-02 9.92587820e-01 1.04407167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.002557844 meters Centerline goodness : 0.221675 with order 3 Centerline is valid? [False, False] Translation: X:-20.39, Y:-0.04, Z:0.10 [[ 9.92639772e-01 3.59315573e-03 -1.21051117e-01 -2.03948134e+01] [-4.98856010e-03 9.99924539e-01 -1.12263200e-02 -4.05685521e-02] [ 1.21001644e-01 1.17475625e-02 9.92582791e-01 1.04359574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.062557844 meters Centerline goodness : 0.169030 with order 1 Centerline is valid? [False, False] Translation: X:-20.40, Y:-0.04, Z:0.10 [[ 9.92661906e-01 3.73718486e-03 -1.20865110e-01 -2.03954638e+01] [-5.09463550e-03 9.99927352e-01 -1.09240560e-02 -4.19861106e-02] [ 1.20815504e-01 1.14596579e-02 9.92608830e-01 1.04558929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.122557844 meters Centerline goodness : 0.168827 with order 1 Centerline is valid? [False, False] Translation: X:-20.39, Y:-0.04, Z:0.10 [[ 9.92602277e-01 3.79852585e-03 -1.21351932e-01 -2.03931295e+01] [-5.12107674e-03 9.99930827e-01 -1.05884539e-02 -4.47566410e-02] [ 1.21303317e-01 1.11315760e-02 9.92553068e-01 1.03295127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.18255784400003 meters Centerline goodness : 0.164309 with order 1 Centerline is valid? [False, False] Translation: X:-20.39, Y:-0.05, Z:0.10 [[ 9.92634599e-01 3.97923018e-03 -1.21081452e-01 -2.03940620e+01] [-5.25202890e-03 9.99934241e-01 -1.01946009e-02 -4.69437637e-02] [ 1.21032923e-01 1.07554369e-02 9.92590224e-01 1.03543609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24255784400003 meters Centerline goodness : 0.169427 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-0.05, Z:0.11 [[ 9.92500672e-01 -3.58315306e-03 -1.22186648e-01 -2.03742986e+01] [ 2.50345078e-03 9.99956465e-01 -8.98887483e-03 -4.50322648e-02] [ 1.22213537e-01 8.61557605e-03 9.92466434e-01 1.06892677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.302557844 meters Centerline goodness : 0.170373 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-0.05, Z:0.11 [[ 9.92446865e-01 -3.40926452e-03 -1.22627878e-01 -2.03730242e+01] [ 2.39397557e-03 9.99961637e-01 -8.42581799e-03 -4.85633959e-02] [ 1.22651900e-01 8.06860850e-03 9.92416953e-01 1.06813413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.362557844 meters Centerline goodness : 0.141457 with order 2 Centerline is valid? [False, False] Translation: X:-20.37, Y:-0.05, Z:0.11 [[ 9.92441174e-01 -3.22075174e-03 -1.22679020e-01 -2.03728317e+01] [ 2.31139019e-03 9.99968796e-01 -7.55412332e-03 -5.40620273e-02] [ 1.22699522e-01 7.21346393e-03 9.92417651e-01 1.06881925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.422557844 meters Centerline goodness : 0.174438 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-0.07, Z:0.11 [[ 9.92378904e-01 -7.04131214e-03 -1.23022483e-01 -2.03714566e+01] [ 5.88903769e-03 9.99935345e-01 -9.72749121e-03 -6.59392626e-02] [ 1.23083023e-01 8.92887302e-03 9.92356209e-01 1.06609817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.482557844 meters Centerline goodness : 0.173975 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-0.07, Z:0.11 [[ 9.92357319e-01 -1.06872661e-02 -1.22933858e-01 -2.03716908e+01] [ 9.27219858e-03 9.99884077e-01 -1.20771700e-02 -7.37685853e-02] [ 1.23048679e-01 1.08450009e-02 9.92341377e-01 1.06804549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.542557844 meters Centerline goodness : 0.173529 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-0.08, Z:0.11 [[ 9.92362258e-01 -1.37546754e-02 -1.22588574e-01 -2.03723309e+01] [ 1.21531606e-02 9.99830883e-01 -1.38023583e-02 -8.41510817e-02] [ 1.22757689e-01 1.22071008e-02 9.92361596e-01 1.06728260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.602557844 meters Centerline goodness : 0.117141 with order 2 Centerline is valid? [False, False] Translation: X:-20.39, Y:-0.10, Z:0.10 [[ 9.92583890e-01 -6.08109903e-03 -1.21409397e-01 -2.03909496e+01] [ 4.38093832e-03 9.99888644e-01 -1.42655603e-02 -9.57002967e-02] [ 1.21482628e-01 1.36278782e-02 9.92500001e-01 1.02188413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.662557844 meters Centerline goodness : 0.165500 with order 1 Centerline is valid? [False, False] Translation: X:-20.39, Y:-0.10, Z:0.10 [[ 9.92620182e-01 -5.29331097e-03 -1.21149309e-01 -2.03913324e+01] [ 3.67621183e-03 9.99901198e-01 -1.35676046e-02 -9.76858409e-02] [ 1.21209157e-01 1.30221076e-02 9.92541568e-01 1.01734735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.722557844 meters Centerline goodness : 0.155178 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-0.10, Z:0.10 [[ 9.92617907e-01 4.55162055e-03 -1.21198075e-01 -2.03696255e+01] [-6.25428583e-03 9.99886975e-01 -1.36719168e-02 -9.99310464e-02] [ 1.21122147e-01 1.43289969e-02 9.92534183e-01 1.04090993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.782557844 meters Centerline goodness : 0.153210 with order 1 Centerline is valid? [False, False] Translation: X:-20.42, Y:-0.10, Z:0.10 [[ 9.92405973e-01 4.58312220e-03 -1.22920220e-01 -2.04178048e+01] [-6.28663174e-03 9.99889453e-01 -1.34743929e-02 -1.04375950e-01] [ 1.22844877e-01 1.41448221e-02 9.92325078e-01 1.00943386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.842557844 meters Centerline goodness : 0.152482 with order 1 Centerline is valid? [False, False] Translation: X:-20.42, Y:-0.11, Z:0.10 [[ 9.92552043e-01 2.67036733e-03 -1.21792084e-01 -2.04223670e+01] [-4.51024524e-03 9.99879805e-01 -1.48335319e-02 -1.07482669e-01] [ 1.21737834e-01 1.52723645e-02 9.92444787e-01 1.02215445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.902557844 meters Centerline goodness : 0.270319 with order 2 Centerline is valid? [False, False] Translation: X:-20.42, Y:-0.11, Z:0.10 [[ 9.92563186e-01 2.83500591e-03 -1.21697512e-01 -2.04225114e+01] [-4.63726262e-03 9.99883700e-01 -1.45286450e-02 -1.08407967e-01] [ 1.21642170e-01 1.49849415e-02 9.92460898e-01 1.02133092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.962557844 meters Centerline goodness : 0.155908 with order 1 Centerline is valid? [False, False] Translation: X:-20.42, Y:-0.11, Z:0.10 [[ 9.92568972e-01 2.69484611e-03 -1.21653494e-01 -2.04233859e+01] [-4.51998718e-03 9.99881301e-01 -1.47293163e-02 -1.07785871e-01] [ 1.21599361e-01 1.51697346e-02 9.92463337e-01 1.03067448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.022557844 meters Centerline goodness : 0.233175 with order 3 Centerline is valid? [False, False] Translation: X:-20.42, Y:-0.11, Z:0.10 [[ 9.92568150e-01 2.72015040e-03 -1.21659644e-01 -2.04235433e+01] [-4.54828097e-03 9.99880847e-01 -1.47514203e-02 -1.07308732e-01] [ 1.21605022e-01 1.51951322e-02 9.92462254e-01 1.03242678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.082557844 meters Centerline goodness : 0.151534 with order 1 Centerline is valid? [False, False] Translation: X:-20.42, Y:-0.11, Z:0.10 [[ 9.92558795e-01 2.75032000e-03 -1.21735260e-01 -2.04231965e+01] [-4.55913670e-03 9.99883275e-01 -1.45825644e-02 -1.08601106e-01] [ 1.21680944e-01 1.50290602e-02 9.92455478e-01 1.03057884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.142557844 meters Centerline goodness : 0.108367 with order 3 Centerline is valid? [False, False] Translation: X:-20.40, Y:-0.11, Z:0.11 [[ 9.92418228e-01 -5.35703206e-03 -1.22789916e-01 -2.04012881e+01] [ 3.73158663e-03 9.99902396e-01 -1.34637653e-02 -1.07669036e-01] [ 1.22850057e-01 1.29034849e-02 9.92341354e-01 1.06298221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.202557844 meters Centerline goodness : 0.151978 with order 1 Centerline is valid? [False, False] Translation: X:-20.45, Y:-0.11, Z:0.10 [[ 9.92136394e-01 -6.29699885e-03 -1.25002891e-01 -2.04472127e+01] [ 4.63680981e-03 9.99897203e-01 -1.35677163e-02 -1.14342724e-01] [ 1.25075477e-01 1.28814105e-02 9.92063604e-01 1.01812570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.262557844 meters Centerline goodness : 0.107339 with order 3 Centerline is valid? [False, False] Translation: X:-20.45, Y:-0.12, Z:0.10 [[ 9.92109871e-01 -6.16524981e-03 -1.25219778e-01 -2.04465993e+01] [ 4.54727816e-03 9.99902500e-01 -1.32027798e-02 -1.16912219e-01] [ 1.25288967e-01 1.25291990e-02 9.92041175e-01 1.01806892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.322557844 meters Centerline goodness : 0.152145 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.12, Z:0.10 [[ 9.92125832e-01 2.54677380e-03 -1.25219197e-01 -2.04678942e+01] [-4.22994238e-03 9.99904223e-01 -1.31777336e-02 -1.24656695e-01] [ 1.25173644e-01 1.36036399e-02 9.92041582e-01 9.87233931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.382557844 meters Centerline goodness : 0.146237 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.13, Z:0.10 [[ 9.92147505e-01 2.58241412e-03 -1.25046632e-01 -2.04683362e+01] [-4.24934726e-03 9.99905612e-01 -1.30655971e-02 -1.25988718e-01] [ 1.25001088e-01 1.34943661e-02 9.92064832e-01 9.86925423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.442557844 meters Centerline goodness : 0.148540 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.13, Z:0.10 [[ 9.92153485e-01 2.64418062e-03 -1.24997880e-01 -2.04685102e+01] [-4.29011156e-03 9.99907584e-01 -1.29003218e-02 -1.27210686e-01] [ 1.24952217e-01 1.33353541e-02 9.92073138e-01 9.87034774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.502557844 meters Centerline goodness : 0.227183 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.13, Z:0.10 [[ 9.92166424e-01 2.81776483e-03 -1.24891345e-01 -2.04691241e+01] [-4.41806008e-03 9.99911631e-01 -1.25383793e-02 -1.28987734e-01] [ 1.24844978e-01 1.29919364e-02 9.92091196e-01 9.91239786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.562557844 meters Centerline goodness : 0.124648 with order 3 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.13, Z:0.10 [[ 9.92190733e-01 2.92031976e-03 -1.24695716e-01 -2.04700252e+01] [-4.48364815e-03 9.99914811e-01 -1.22583454e-02 -1.30591076e-01] [ 1.24649295e-01 1.27217084e-02 9.92119303e-01 9.95860013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.622557844 meters Centerline goodness : 0.417721 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.13, Z:0.10 [[ 9.92199340e-01 3.03381778e-03 -1.24624501e-01 -2.04703710e+01] [-4.56710401e-03 9.99917334e-01 -1.20193909e-02 -1.31782772e-01] [ 1.24577734e-01 1.24948048e-02 9.92131175e-01 9.97887017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.68255784400003 meters Centerline goodness : 0.148224 with order 1 Centerline is valid? [False, False] Translation: X:-20.48, Y:-0.14, Z:0.10 [[ 9.92334332e-01 6.53676369e-04 -1.23580523e-01 -2.04750068e+01] [-2.33825473e-03 9.99906314e-01 -1.34868771e-02 -1.37636094e-01] [ 1.23560129e-01 1.36724539e-02 9.92242893e-01 1.01500407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74255784400003 meters Centerline goodness : 0.121626 with order 3 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.14, Z:0.10 [[ 9.92321048e-01 6.25028281e-04 -1.23687295e-01 -2.04747214e+01] [-2.24775684e-03 9.99913223e-01 -1.29804955e-02 -1.41669247e-01] [ 1.23668449e-01 1.31588379e-02 9.92236343e-01 1.01576329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.802557844 meters Centerline goodness : 0.122094 with order 3 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.15, Z:0.10 [[ 9.92281479e-01 8.57309996e-04 -1.24002946e-01 -2.04735968e+01] [-2.39297403e-03 9.99922278e-01 -1.22356806e-02 -1.45854566e-01] [ 1.23982819e-01 1.24379751e-02 9.92206409e-01 1.01252389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.862557844 meters Centerline goodness : 0.141719 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.15, Z:0.10 [[ 9.92307621e-01 -3.09080017e-03 -1.23757962e-01 -2.04740693e+01] [ 1.21655121e-03 9.99883472e-01 -1.52171783e-02 -1.50716385e-01] [ 1.23790574e-01 1.49495641e-02 9.92195749e-01 1.01120840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.922557844 meters Centerline goodness : 0.124592 with order 3 Centerline is valid? [False, False] Translation: X:-20.49, Y:-0.16, Z:0.10 [[ 9.92497722e-01 2.97441038e-03 -1.22226937e-01 -2.04900221e+01] [-4.98565720e-03 9.99857110e-01 -1.61524791e-02 -1.61720696e-01] [ 1.22161428e-01 1.66406804e-02 9.92370734e-01 9.62002911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.982557844 meters Centerline goodness : 0.122421 with order 3 Centerline is valid? [False, False] Translation: X:-20.49, Y:-0.17, Z:0.10 [[ 9.92423127e-01 3.17613080e-03 -1.22826094e-01 -2.04877431e+01] [-5.11517959e-03 9.99867173e-01 -1.54748355e-02 -1.66000366e-01] [ 1.22760629e-01 1.59858621e-02 9.92307553e-01 9.53538954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.042557844 meters Centerline goodness : 0.146223 with order 1 Centerline is valid? [False, False] Translation: X:-20.49, Y:-0.17, Z:0.10 [[ 9.92496149e-01 -5.52786632e-04 -1.22274644e-01 -2.04889812e+01] [-1.70272305e-03 9.99830340e-01 -1.83409974e-02 -1.70762005e-01] [ 1.22264037e-01 1.84115691e-02 9.92326821e-01 9.50284511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.102557844 meters Centerline goodness : 0.143871 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.18, Z:0.09 [[ 9.92287037e-01 -1.70518859e-03 -1.23949700e-01 -2.05360847e+01] [-5.16371341e-04 9.99839850e-01 -1.78887410e-02 -1.80109712e-01] [ 1.23960354e-01 1.78147699e-02 9.92127242e-01 9.11784165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.162557844 meters Centerline goodness : 0.141364 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-0.18, Z:0.09 [[ 9.92238617e-01 -1.44678184e-03 -1.24339989e-01 -2.05346782e+01] [-7.01974796e-04 9.99851207e-01 -1.72357508e-02 -1.84215907e-01] [ 1.24346424e-01 1.71892611e-02 9.92089964e-01 9.07079448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.222557844 meters Centerline goodness : 0.139595 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-0.19, Z:0.09 [[ 9.92223738e-01 -1.14975981e-03 -1.24461767e-01 -2.05341057e+01] [-9.32113929e-04 9.99860653e-01 -1.66674892e-02 -1.87600827e-01] [ 1.24463588e-01 1.66538910e-02 9.92084403e-01 9.04295125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.282557844 meters Centerline goodness : 0.143705 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.19, Z:0.09 [[ 9.92272741e-01 -9.56010834e-04 -1.24072131e-01 -2.05355029e+01] [-1.08952990e-03 9.99864625e-01 -1.64178065e-02 -1.88577079e-01] [ 1.24071031e-01 1.64261221e-02 9.92137370e-01 9.08453673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.342557844 meters Centerline goodness : 0.138303 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-0.19, Z:0.09 [[ 9.92236957e-01 -6.57263727e-04 -1.24359920e-01 -2.05344780e+01] [-1.33970934e-03 9.99871515e-01 -1.59737027e-02 -1.90245326e-01] [ 1.24354441e-01 1.60163043e-02 9.92108588e-01 9.04700766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.402557844 meters Centerline goodness : 0.143139 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-0.19, Z:0.09 [[ 9.92116389e-01 -8.77191585e-04 -1.25316807e-01 -2.05310958e+01] [-1.12622020e-03 9.99872714e-01 -1.59150356e-02 -1.92149841e-01] [ 1.25314817e-01 1.59307019e-02 9.91989118e-01 8.93306909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.462557844 meters Centerline goodness : 0.142348 with order 1 Centerline is valid? [False, False] Translation: X:-20.53, Y:-0.20, Z:0.09 [[ 9.92171902e-01 -7.41970343e-04 -1.24877402e-01 -2.05324337e+01] [-1.18693621e-03 9.99881150e-01 -1.53712912e-02 -1.95104043e-01] [ 1.24873965e-01 1.53991848e-02 9.92053102e-01 8.96060090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.522557844 meters Centerline goodness : 0.137775 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.20, Z:0.09 [[ 9.92377602e-01 -2.93475136e-03 -1.23199362e-01 -2.05390576e+01] [ 8.70805349e-04 9.99858434e-01 -1.68034001e-02 -2.00131685e-01] [ 1.23231235e-01 1.65680353e-02 9.92239670e-01 9.16838171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.582557844 meters Centerline goodness : 0.221938 with order 3 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.20, Z:0.09 [[ 9.92362687e-01 -2.71602187e-03 -1.23324455e-01 -2.05382959e+01] [ 6.80341781e-04 9.99862877e-01 -1.65458152e-02 -2.00989709e-01] [ 1.23352483e-01 1.63355469e-02 9.92228459e-01 9.10990485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.642557844 meters Centerline goodness : 0.140595 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.20, Z:0.09 [[ 9.92353529e-01 -2.59511932e-03 -1.23400721e-01 -2.05375700e+01] [ 5.75824776e-04 9.99865401e-01 -1.63965677e-02 -2.01730294e-01] [ 1.23426662e-01 1.62001347e-02 9.92221454e-01 9.04159847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.702557844 meters Centerline goodness : 0.136668 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.20, Z:0.09 [[ 9.92356361e-01 -2.57521487e-03 -1.23378365e-01 -2.05376199e+01] [ 5.53429741e-04 9.99865057e-01 -1.64183391e-02 -2.01465379e-01] [ 1.23403997e-01 1.62245620e-02 9.92223874e-01 9.03625002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.762557844 meters Centerline goodness : 0.128149 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.20, Z:0.09 [[ 9.92380289e-01 -2.63646796e-03 -1.23184457e-01 -2.05382491e+01] [ 5.97774905e-04 9.99862298e-01 -1.65839501e-02 -2.00624597e-01] [ 1.23211217e-01 1.63839486e-02 9.92245213e-01 9.04631396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.822557844 meters Centerline goodness : 0.132475 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.20, Z:0.09 [[ 9.92386060e-01 -2.79821313e-03 -1.23134388e-01 -2.05382451e+01] [ 7.07171502e-04 9.99854862e-01 -1.70222136e-02 -1.98291536e-01] [ 1.23164148e-01 1.68055304e-02 9.92244006e-01 9.02297828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.882557844 meters Centerline goodness : 0.137295 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.20, Z:0.09 [[ 9.92425508e-01 -2.88769229e-03 -1.22813971e-01 -2.05388351e+01] [ 7.71215552e-04 9.99850440e-01 -1.72772398e-02 -1.96765181e-01] [ 1.22845494e-01 1.70516574e-02 9.92279308e-01 8.98577169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.942557844 meters Centerline goodness : 0.136306 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.20, Z:0.09 [[ 9.92411635e-01 -2.93950009e-03 -1.22924797e-01 -2.05387404e+01] [ 8.10282135e-04 9.99848842e-01 -1.73677108e-02 -1.96493587e-01] [ 1.22957269e-01 1.71363145e-02 9.92264006e-01 9.00490744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.002557844 meters Centerline goodness : 0.138035 with order 1 Centerline is valid? [False, False] Translation: X:-20.54, Y:-0.20, Z:0.09 [[ 9.92297103e-01 -2.91565800e-03 -1.23846512e-01 -2.05355564e+01] [ 8.12666821e-04 9.99854687e-01 -1.70277495e-02 -1.99055607e-01] [ 1.23878163e-01 1.67959406e-02 9.92155279e-01 8.91582473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.062557844 meters Centerline goodness : 0.138975 with order 1 Centerline is valid? [False, False] Translation: X:-20.56, Y:-0.20, Z:0.09 [[ 9.92376190e-01 2.14820976e-03 -1.23226955e-01 -2.05567831e+01] [-4.66682224e-03 9.99785999e-01 -2.01538148e-02 -2.04562746e-01] [ 1.23157290e-01 2.05752442e-02 9.92173846e-01 8.55165989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.122557844 meters Centerline goodness : 0.136697 with order 1 Centerline is valid? [False, False] Translation: X:-20.56, Y:-0.20, Z:0.09 [[ 9.92495497e-01 2.47331823e-03 -1.22256167e-01 -2.05594878e+01] [-4.95528396e-03 9.99787670e-01 -2.00014774e-02 -2.03898243e-01] [ 1.22180738e-01 2.04571903e-02 9.92297017e-01 8.56623542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.18255784400003 meters Centerline goodness : 0.215817 with order 3 Centerline is valid? [False, False] Translation: X:-20.56, Y:-0.20, Z:0.09 [[ 9.92572652e-01 2.46732464e-03 -1.21628299e-01 -2.05612238e+01] [-4.97645060e-03 9.99780939e-01 -2.03300108e-02 -2.01650139e-01] [ 1.21551494e-01 2.07842899e-02 9.92367496e-01 8.57198715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24255784400003 meters Centerline goodness : 0.133166 with order 1 Centerline is valid? [False, False] Translation: X:-20.56, Y:-0.20, Z:0.08 [[ 9.92535274e-01 2.45681296e-03 -1.21933150e-01 -2.05597643e+01] [-4.97412333e-03 9.99780647e-01 -2.03449088e-02 -2.01336142e-01] [ 1.21856420e-01 2.07995502e-02 9.92329780e-01 8.48587990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.302557844 meters Centerline goodness : 0.141057 with order 1 Centerline is valid? [False, False] Translation: X:-20.58, Y:-0.20, Z:0.08 [[ 9.92238299e-01 -7.25584976e-03 -1.24139074e-01 -2.05788002e+01] [ 4.82544813e-03 9.99790976e-01 -1.98675452e-02 -2.00906694e-01] [ 1.24257282e-01 1.91143126e-02 9.92065911e-01 8.18992227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.362557844 meters Centerline goodness : 0.144931 with order 1 Centerline is valid? [False, False] Translation: X:-20.58, Y:-0.21, Z:0.08 [[ 9.92241512e-01 -1.11966194e-02 -1.23820103e-01 -2.05806241e+01] [ 8.44159937e-03 9.99705488e-01 -2.27524967e-02 -2.05208983e-01] [ 1.24038388e-01 2.15307320e-02 9.92043802e-01 8.29551639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.422557844 meters Centerline goodness : 0.146029 with order 1 Centerline is valid? [False, False] Translation: X:-20.58, Y:-0.21, Z:0.08 [[ 9.92278562e-01 -1.11057767e-02 -1.23531036e-01 -2.05810228e+01] [ 8.41416000e-03 9.99716152e-01 -2.22894085e-02 -2.07640505e-01] [ 1.23743513e-01 2.10778923e-02 9.92090351e-01 8.25389675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.482557844 meters Centerline goodness : 0.146013 with order 1 Centerline is valid? [False, False] Translation: X:-20.60, Y:-0.21, Z:0.08 [[ 9.92380309e-01 -4.21869770e-03 -1.23140263e-01 -2.05985639e+01] [ 1.30998076e-03 9.99718433e-01 -2.36925818e-02 -2.13969433e-01] [ 1.23205542e-01 2.33507402e-02 9.92106414e-01 7.77880852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.542557844 meters Centerline goodness : 0.121961 with order 3 Centerline is valid? [False, False] Translation: X:-20.60, Y:-0.21, Z:0.08 [[ 9.92345424e-01 -4.17733968e-03 -1.23422487e-01 -2.05975588e+01] [ 1.27125639e-03 9.99720314e-01 -2.36151933e-02 -2.14619304e-01] [ 1.23486616e-01 2.32775274e-02 9.92073189e-01 7.74511222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.602557844 meters Centerline goodness : 0.232396 with order 3 Centerline is valid? [False, False] Translation: X:-20.60, Y:-0.22, Z:0.08 [[ 9.92345580e-01 -4.05220548e-03 -1.23425401e-01 -2.05979197e+01] [ 1.16805947e-03 9.99724776e-01 -2.34309270e-02 -2.15436704e-01] [ 1.23486379e-01 2.31074086e-02 9.92077196e-01 7.78900335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.662557844 meters Centerline goodness : 0.120845 with order 3 Centerline is valid? [False, False] Translation: X:-20.62, Y:-0.22, Z:0.07 [[ 9.92560463e-01 4.70007385e-04 -1.21751821e-01 -2.06201969e+01] [-3.72584550e-03 9.99641464e-01 -2.65153166e-02 -2.21292387e-01] [ 1.21695706e-01 2.67716834e-02 9.92206346e-01 7.41642439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.722557844 meters Centerline goodness : 0.146053 with order 1 Centerline is valid? [False, False] Translation: X:-20.62, Y:-0.22, Z:0.07 [[ 9.92564755e-01 6.94795634e-04 -1.21715756e-01 -2.06201432e+01] [-3.88122976e-03 9.99655859e-01 -2.59441788e-02 -2.24283106e-01] [ 1.21655842e-01 2.62236843e-02 9.92225869e-01 7.39400360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.782557844 meters Centerline goodness : 0.121796 with order 3 Centerline is valid? [False, False] Translation: X:-20.62, Y:-0.23, Z:0.07 [[ 9.92425806e-01 -1.29743253e-03 -1.22838658e-01 -2.06156390e+01] [-2.03486403e-03 9.99633414e-01 -2.69980847e-02 -2.31821614e-01] [ 1.22828655e-01 2.70435560e-02 9.92059357e-01 7.24892731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.842557844 meters Centerline goodness : 0.144190 with order 1 Centerline is valid? [False, False] Translation: X:-20.62, Y:-0.24, Z:0.07 [[ 9.92389868e-01 -8.09275433e-04 -1.23132836e-01 -2.06152189e+01] [-2.39923608e-03 9.99661483e-01 -2.59068105e-02 -2.38901960e-01] [ 1.23112119e-01 2.60050810e-02 9.92051985e-01 7.28443499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.902557844 meters Centerline goodness : 0.143286 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.25, Z:0.07 [[ 9.92323423e-01 -2.95023772e-04 -1.23669466e-01 -2.06127793e+01] [-2.79085603e-03 9.99689066e-01 -2.47786616e-02 -2.48421944e-01] [ 1.23638323e-01 2.49335900e-02 9.92014053e-01 7.16825714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.962557844 meters Centerline goodness : 0.232735 with order 3 Centerline is valid? [False, False] Translation: X:-20.60, Y:-0.26, Z:0.07 [[ 9.92803234e-01 8.68691474e-03 -1.19441517e-01 -2.05964036e+01] [-1.17397012e-02 9.99621536e-01 -2.48790061e-02 -2.58043210e-01] [ 1.19180191e-01 2.61021654e-02 9.92529475e-01 7.48472755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.022557844 meters Centerline goodness : 0.137613 with order 1 Centerline is valid? [False, False] Translation: X:-20.60, Y:-0.26, Z:0.08 [[ 9.92814002e-01 9.20621599e-03 -1.19313046e-01 -2.05970331e+01] [-1.21395417e-02 9.99641084e-01 -2.38816734e-02 -2.63536454e-01] [ 1.19050363e-01 2.51584655e-02 9.92569425e-01 7.51218789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.082557844 meters Centerline goodness : 0.143711 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-0.27, Z:0.07 [[ 9.92688820e-01 7.50494870e-03 -1.20468183e-01 -2.05931636e+01] [-1.05927718e-02 9.99631029e-01 -2.50119697e-02 -2.71360909e-01] [ 1.20236021e-01 2.61051947e-02 9.92402045e-01 7.45329641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.142557844 meters Centerline goodness : 0.133507 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-0.28, Z:0.08 [[ 9.92717069e-01 8.22130610e-03 -1.20188317e-01 -2.05945273e+01] [-1.11526842e-02 9.99656013e-01 -2.37375978e-02 -2.77720560e-01] [ 1.19951820e-01 2.49051408e-02 9.92467276e-01 7.52172890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.202557844 meters Centerline goodness : 0.091264 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-0.28, Z:0.08 [[ 9.92735030e-01 8.71946213e-03 -1.20004716e-01 -2.05949578e+01] [-1.15274718e-02 9.99675296e-01 -2.27248921e-02 -2.83469301e-01] [ 1.19767601e-01 2.39431474e-02 9.92513198e-01 7.50878236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.262557844 meters Centerline goodness : 0.216712 with order 3 Centerline is valid? [False, False] Translation: X:-20.59, Y:-0.29, Z:0.07 [[ 9.92656850e-01 8.86709206e-03 -1.20638937e-01 -2.05928253e+01] [-1.16199960e-02 9.99687459e-01 -2.21350415e-02 -2.87700281e-01] [ 1.20404959e-01 2.33743246e-02 9.92449639e-01 7.45231640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.322557844 meters Centerline goodness : 0.246324 with order 3 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.29, Z:0.07 [[ 9.92210537e-01 1.35894344e-03 -1.24564856e-01 -2.06105545e+01] [-3.87097299e-03 9.99793951e-01 -1.99266216e-02 -2.90351488e-01] [ 1.24512111e-01 2.02535912e-02 9.92011354e-01 7.16939232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.382557844 meters SLAMing on 508.442557844 meters Centerline goodness : 0.121896 with order 3 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.29, Z:0.07 [[ 9.92213693e-01 1.74284649e-03 -1.24534938e-01 -2.06106544e+01] [-4.17121409e-03 9.99806166e-01 -1.92414040e-02 -2.93598063e-01] [ 1.24477265e-01 1.96110464e-02 9.92028637e-01 7.17433953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.502557844 meters Centerline goodness : 0.121750 with order 3 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.30, Z:0.07 [[ 9.92128484e-01 1.64074822e-03 -1.25213334e-01 -2.06090642e+01] [-4.05114225e-03 9.99811312e-01 -1.89980964e-02 -2.96188972e-01] [ 1.25158536e-01 1.93558096e-02 9.91947929e-01 7.20387316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.562557844 meters Centerline goodness : 0.122067 with order 3 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.30, Z:0.07 [[ 9.92156372e-01 1.81377397e-03 -1.24989778e-01 -2.06102399e+01] [-4.18219174e-03 9.99816597e-01 -1.86891033e-02 -2.97462146e-01] [ 1.24932956e-01 1.90652441e-02 9.91981992e-01 7.27541416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.622557844 meters Centerline goodness : 0.143849 with order 3 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.30, Z:0.07 [[ 9.92297395e-01 2.29075622e-03 -1.23857303e-01 -2.06135198e+01] [-4.62370856e-03 9.99817212e-01 -1.85516430e-02 -2.95874591e-01] [ 1.23792166e-01 1.89814271e-02 9.92126607e-01 7.30805772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.68255784400003 meters Centerline goodness : 0.147470 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.29, Z:0.07 [[ 9.92247161e-01 2.37397574e-03 -1.24257541e-01 -2.06124943e+01] [-4.77510604e-03 9.99807519e-01 -1.90295622e-02 -2.92125599e-01] [ 1.24188448e-01 1.94753720e-02 9.92067507e-01 7.30056339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74255784400003 meters Centerline goodness : 0.148602 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.29, Z:0.07 [[ 9.92246103e-01 2.24070534e-03 -1.24268461e-01 -2.06126124e+01] [-4.67322161e-03 9.99803074e-01 -1.92866462e-02 -2.90815819e-01] [ 1.24200774e-01 1.97178335e-02 9.92061175e-01 7.31915463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.802557844 meters Centerline goodness : 0.158868 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.29, Z:0.07 [[ 9.92231497e-01 1.94917029e-03 -1.24389938e-01 -2.06121170e+01] [-4.42900863e-03 9.99796863e-01 -1.96625833e-02 -2.89429051e-01] [ 1.24326344e-01 2.00607586e-02 9.92038571e-01 7.30096710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.862557844 meters Centerline goodness : 0.147944 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.29, Z:0.07 [[ 9.92263622e-01 1.84641638e-03 -1.24134986e-01 -2.06124765e+01] [-4.37694107e-03 9.99788079e-01 -2.01156370e-02 -2.86028643e-01] [ 1.24071537e-01 2.05033463e-02 9.92061423e-01 7.26994075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.922557844 meters Centerline goodness : 0.155604 with order 1 Centerline is valid? [False, False] Translation: X:-20.61, Y:-0.28, Z:0.07 [[ 9.92261592e-01 5.26785064e-03 -1.24053142e-01 -2.06116429e+01] [-7.55985449e-03 9.99809181e-01 -1.80125049e-02 -2.77979779e-01] [ 1.23934583e-01 1.88109405e-02 9.92112074e-01 7.17672686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.982557844 meters Centerline goodness : 0.122611 with order 3 Centerline is valid? [False, False] Translation: X:-20.65, Y:-0.27, Z:0.07 [[ 9.91792022e-01 7.19801645e-03 -1.27658814e-01 -2.06520320e+01] [-9.35786791e-03 9.99822910e-01 -1.63272470e-02 -2.67592141e-01] [ 1.27518683e-01 1.73878477e-02 9.91683744e-01 6.56158657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.042557844 meters Centerline goodness : 0.141672 with order 3 Centerline is valid? [False, False] Translation: X:-20.65, Y:-0.26, Z:0.07 [[ 9.91838737e-01 6.35959336e-03 -1.27339996e-01 -2.06535671e+01] [-8.68813688e-03 9.99804904e-01 -1.77389522e-02 -2.59652059e-01] [ 1.27202340e-01 1.87005272e-02 9.91700487e-01 6.64018933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.102557844 meters Centerline goodness : 0.130906 with order 3 Centerline is valid? [False, False] Translation: X:-20.67, Y:-0.25, Z:0.06 [[ 9.92370381e-01 3.66301462e-04 -1.23291900e-01 -2.06695359e+01] [-2.39222451e-03 9.99864540e-01 -1.62842888e-02 -2.53863341e-01] [ 1.23269234e-01 1.64549878e-02 9.92236831e-01 5.92800745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.162557844 meters Centerline goodness : 0.151173 with order 1 Centerline is valid? [False, False] Translation: X:-20.67, Y:-0.25, Z:0.06 [[ 9.92373556e-01 9.11508103e-06 -1.23266888e-01 -2.06685080e+01] [-2.08686205e-03 9.99857923e-01 -1.67265756e-02 -2.51493677e-01] [ 1.23249223e-01 1.68562523e-02 9.92232582e-01 5.83449148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.222557844 meters Centerline goodness : 0.389988 with order 1 Centerline is valid? [False, False] Translation: X:-20.67, Y:-0.25, Z:0.06 [[ 9.92427512e-01 -1.04037404e-04 -1.22831685e-01 -2.06695260e+01] [-1.98121567e-03 9.99855994e-01 -1.68542454e-02 -2.50514169e-01] [ 1.22815750e-01 1.69699729e-02 9.92284390e-01 5.84084761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.282557844 meters Centerline goodness : 0.199701 with order 3 Centerline is valid? [False, False] Translation: X:-20.67, Y:-0.25, Z:0.06 [[ 9.92511377e-01 -2.85551296e-04 -1.22151891e-01 -2.06710598e+01] [-1.81981926e-03 9.99851721e-01 -1.71237651e-02 -2.48991577e-01] [ 1.22138668e-01 1.72178260e-02 9.92363690e-01 5.84531112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.342557844 meters Centerline goodness : 0.171513 with order 3 Centerline is valid? [False, False] Translation: X:-20.67, Y:-0.25, Z:0.06 [[ 9.92680909e-01 -1.09866633e-04 -1.20766719e-01 -2.06734210e+01] [-1.98442246e-03 9.99849735e-01 -1.72212050e-02 -2.46565375e-01] [ 1.20750464e-01 1.73348136e-02 9.92531526e-01 5.74548383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.402557844 meters Centerline goodness : 0.173191 with order 1 Centerline is valid? [False, False] Translation: X:-20.72, Y:-0.25, Z:0.05 [[ 9.92653186e-01 1.86586172e-04 -1.20994284e-01 -2.07211314e+01] [-2.13213887e-03 9.99870510e-01 -1.59504430e-02 -2.50274442e-01] [ 1.20975641e-01 1.60912347e-02 9.92525046e-01 5.15905369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.462557844 meters Centerline goodness : 0.103405 with order 1 Centerline is valid? [False, False] Translation: X:-20.72, Y:-0.25, Z:0.05 [[ 9.92820965e-01 1.83090645e-04 -1.19609776e-01 -2.07231343e+01] [-2.08796498e-03 9.99872982e-01 -1.58006149e-02 -2.50635249e-01] [ 1.19591691e-01 1.59369228e-02 9.92695241e-01 5.02271526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.522557844 meters Centerline goodness : 0.175686 with order 1 Centerline is valid? [False, False] Translation: X:-20.72, Y:-0.25, Z:0.05 [[ 9.92904978e-01 1.33226762e-04 -1.18910413e-01 -2.07235422e+01] [-1.97820387e-03 9.99879490e-01 -1.53977915e-02 -2.53118631e-01] [ 1.18894032e-01 1.55237729e-02 9.92785587e-01 4.89394920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.582557844 meters Centerline goodness : 0.177428 with order 1 Centerline is valid? [False, False] Translation: X:-20.72, Y:-0.26, Z:0.05 [[ 9.93127717e-01 -3.09007072e-03 -1.16994828e-01 -2.07244874e+01] [ 1.01532722e-03 9.99841246e-01 -1.77890817e-02 -2.57759727e-01] [ 1.17031224e-01 1.75480421e-02 9.92973191e-01 4.54288196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.642557844 meters Centerline goodness : 0.154695 with order 1 Centerline is valid? [False, False] Translation: X:-20.72, Y:-0.26, Z:0.04 [[ 9.93358748e-01 -2.12970502e-03 -1.15038526e-01 -2.07236117e+01] [ 2.18836196e-04 9.99861842e-01 -1.66207617e-02 -2.62144673e-01] [ 1.15058030e-01 1.64852045e-02 9.93221973e-01 3.97467737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.702557844 meters Centerline goodness : 0.150440 with order 1 Centerline is valid? [False, False] Translation: X:-20.74, Y:-0.27, Z:0.03 [[ 9.93621837e-01 6.02168439e-03 -1.12602775e-01 -2.07432855e+01] [-8.01470692e-03 9.99818993e-01 -1.72552886e-02 -2.66748139e-01] [ 1.12478487e-01 1.80477098e-02 9.93490247e-01 3.06656703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.762557844 meters Centerline goodness : 0.151952 with order 1 Centerline is valid? [False, False] Translation: X:-20.72, Y:-0.26, Z:0.03 [[ 9.93858694e-01 1.70416861e-02 -1.09336530e-01 -2.07179347e+01] [-1.89823395e-02 9.99679787e-01 -1.67330542e-02 -2.63280122e-01] [ 1.09016359e-01 1.87057545e-02 9.93863938e-01 2.65797923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.822557844 meters Centerline goodness : 0.155836 with order 1 Centerline is valid? [False, False] Translation: X:-20.72, Y:-0.26, Z:0.02 [[ 9.94007614e-01 1.78655388e-02 -1.07841023e-01 -2.07169267e+01] [-1.97390230e-02 9.99671794e-01 -1.63301857e-02 -2.59520666e-01] [ 1.07513881e-01 1.83610054e-02 9.94034023e-01 2.16659586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.882557844 meters Centerline goodness : 0.086487 with order 1 Centerline is valid? [False, False] Translation: X:-20.69, Y:-0.25, Z:0.02 [[ 9.94144827e-01 1.35787461e-02 -1.07199258e-01 -2.06938897e+01] [-1.51244772e-02 9.99792860e-01 -1.36193799e-02 -2.50504214e-01] [ 1.06992118e-01 1.51609688e-02 9.94144271e-01 1.90431714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.942557844 meters Centerline goodness : 0.139042 with order 1 Centerline is valid? [False, False] Translation: X:-20.67, Y:-0.24, Z:0.01 [[ 9.95084711e-01 1.06261317e-02 -9.84555909e-02 -2.06667648e+01] [-1.16527734e-02 9.99883507e-01 -9.85827973e-03 -2.44911244e-01] [ 9.83393661e-02 1.09571041e-02 9.95092614e-01 1.16930931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.002557844 meters Centerline goodness : 0.139518 with order 1 Centerline is valid? [False, False] Translation: X:-20.67, Y:-0.24, Z:0.00 [[ 9.95519376e-01 9.45165826e-03 -9.40842123e-02 -2.06675266e+01] [-1.04909630e-02 9.99889228e-01 -1.05580483e-02 -2.39662639e-01] [ 9.39739993e-02 1.14977756e-02 9.95508256e-01 2.51261407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.062557844 meters Centerline goodness : 0.088966 with order 1 Centerline is valid? [False, False] Translation: X:-20.67, Y:-0.24, Z:-0.00 [[ 9.95816658e-01 8.75689917e-03 -9.09532873e-02 -2.06678699e+01] [-9.78346298e-03 9.99893308e-01 -1.08470026e-02 -2.35263724e-01] [ 9.08485971e-02 1.16914640e-02 9.95796085e-01 -4.57124050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.122557844 meters Centerline goodness : 0.139186 with order 1 Centerline is valid? [False, False] Translation: X:-20.69, Y:-0.24, Z:-0.03 [[ 9.97039644e-01 6.87412932e-03 -7.65813000e-02 -2.06871897e+01] [-7.69869555e-03 9.99915476e-01 -1.04771841e-02 -2.35288036e-01] [ 7.65028055e-02 1.10357440e-02 9.97008291e-01 -2.58272252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.18255784400003 meters Centerline goodness : 0.127445 with order 1 Centerline is valid? [False, False] Translation: X:-20.65, Y:-0.24, Z:-0.04 [[ 9.97501830e-01 2.43719875e-03 -7.05985751e-02 -2.06502803e+01] [-3.02284609e-03 9.99961894e-01 -8.18980599e-03 -2.35889856e-01] [ 7.05759246e-02 8.38275509e-03 9.97471187e-01 -3.60165552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24255784400003 meters Centerline goodness : 0.138882 with order 1 Centerline is valid? [False, False] Translation: X:-20.65, Y:-0.24, Z:-0.04 [[ 9.97761688e-01 2.27855539e-03 -6.68312981e-02 -2.06494398e+01] [-2.82547113e-03 9.99963282e-01 -8.09014830e-03 -2.36028959e-01] [ 6.68104104e-02 8.26086993e-03 9.97731490e-01 -4.39037486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.302557844 meters Centerline goodness : 0.133553 with order 1 Centerline is valid? [False, False] Translation: X:-20.63, Y:-0.23, Z:-0.06 [[ 9.98330562e-01 4.66973077e-03 -5.75698034e-02 -2.06340664e+01] [-5.00575050e-03 9.99971261e-01 -5.69390757e-03 -2.33252153e-01] [ 5.75415598e-02 5.97258202e-03 9.98325246e-01 -6.29105273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.362557844 meters Centerline goodness : 0.232173 with order 1 Centerline is valid? [False, False] Translation: X:-20.59, Y:-0.23, Z:-0.06 [[ 9.98394886e-01 5.74774712e-03 -5.63437147e-02 -2.05854281e+01] [-6.12198709e-03 9.99960318e-01 -6.47173455e-03 -2.26577499e-01] [ 5.63042810e-02 6.80628217e-03 9.98390456e-01 -6.22613776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.422557844 meters Centerline goodness : 0.125275 with order 1 Centerline is valid? [False, False] Translation: X:-20.55, Y:-0.23, Z:-0.07 [[ 9.98778699e-01 8.30629753e-04 -4.94006133e-02 -2.05535470e+01] [-1.02448873e-03 9.99991874e-01 -3.89903094e-03 -2.25861556e-01] [ 4.93969732e-02 3.94487943e-03 9.98771434e-01 -7.36935213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.482557844 meters Centerline goodness : 0.104576 with order 1 Centerline is valid? [False, False] Translation: X:-20.52, Y:-0.22, Z:-0.08 [[ 9.98962151e-01 -7.06854033e-03 -4.49961747e-02 -2.05225104e+01] [ 6.90459578e-03 9.99968951e-01 -3.79790064e-03 -2.22862300e-01] [ 4.50216232e-02 3.48327859e-03 9.98979940e-01 -8.43727329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.542557844 meters Centerline goodness : 0.280858 with order 1 Centerline is valid? [False, False] Translation: X:-20.49, Y:-0.22, Z:-0.10 [[ 9.99208387e-01 -1.14066549e-02 -3.81115132e-02 -2.04907341e+01] [ 1.13924108e-02 9.99934930e-01 -5.90902199e-04 -2.24285156e-01] [ 3.81157735e-02 1.56252417e-04 9.99273318e-01 -9.59411094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.602557844 meters Centerline goodness : 0.108854 with order 1 Centerline is valid? [False, False] Translation: X:-20.49, Y:-0.22, Z:-0.10 [[ 9.99324077e-01 -1.08489771e-02 -3.51239099e-02 -2.04870051e+01] [ 1.08476605e-02 9.99941136e-01 -2.28055079e-04 -2.23273682e-01] [ 3.51243165e-02 -1.53111318e-04 9.99382939e-01 -1.03657580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.662557844 meters Centerline goodness : 0.104932 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.22, Z:-0.13 [[ 9.99612876e-01 -8.03271627e-03 -2.66378397e-02 -2.04703274e+01] [ 8.07747165e-03 9.99966140e-01 1.57296483e-03 -2.21405751e-01] [ 2.66243025e-02 -1.78752230e-03 9.99643912e-01 -1.25672798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.722557844 meters Centerline goodness : 0.109985 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:-0.22, Z:-0.13 [[ 9.99693948e-01 -5.95778756e-03 -2.40107495e-02 -2.04653550e+01] [ 6.03509226e-03 9.99976832e-01 3.14840953e-03 -2.17966826e-01] [ 2.39914356e-02 -3.29235303e-03 9.99706743e-01 -1.33596581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.782557844 meters Centerline goodness : 0.137949 with order 3 Centerline is valid? [False, False] Translation: X:-20.42, Y:-0.21, Z:-0.14 [[ 9.99802544e-01 -4.29294643e-03 -1.94021381e-02 -2.04172455e+01] [ 4.33955386e-03 9.99987798e-01 2.36071681e-03 -2.07923693e-01] [ 1.93917669e-02 -2.44444730e-03 9.99808974e-01 -1.37666322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.842557844 meters Centerline goodness : 0.144561 with order 1 Centerline is valid? [False, False] Translation: X:-20.37, Y:-0.20, Z:-0.14 [[ 9.99878596e-01 -1.50495502e-03 -1.55089507e-02 -2.03661502e+01] [ 1.55162287e-03 9.99994304e-01 2.99749763e-03 -1.96316063e-01] [ 1.55043512e-02 -3.02119777e-03 9.99875236e-01 -1.44618863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.902557844 meters Centerline goodness : 0.126813 with order 3 Centerline is valid? [False, False] Translation: X:-20.34, Y:-0.19, Z:-0.17 [[ 9.99983085e-01 -4.73358676e-04 -5.79710553e-03 -2.03449034e+01] [ 4.95341558e-04 9.99992691e-01 3.79119585e-03 -1.88868891e-01] [ 5.79526856e-03 -3.79400326e-03 9.99976010e-01 -1.68828949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.962557844 meters Centerline goodness : 0.141600 with order 1 Centerline is valid? [False, False] Translation: X:-20.34, Y:-0.18, Z:-0.17 [[ 9.99991661e-01 -1.55844023e-03 -3.77475435e-03 -2.03399512e+01] [ 1.56607945e-03 9.99996730e-01 2.02165754e-03 -1.80213528e-01] [ 3.77159138e-03 -2.02755225e-03 9.99990832e-01 -1.74569910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.022557844 meters Centerline goodness : 0.135504 with order 1 Centerline is valid? [False, False] Translation: X:-20.29, Y:-0.17, Z:-0.18 [[ 9.99999860e-01 4.37260420e-05 5.27465551e-04 -2.02894054e+01] [-4.49174996e-05 9.99997447e-01 2.25903470e-03 -1.68782155e-01] [-5.27365426e-04 -2.25905807e-03 9.99997309e-01 -1.81963197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.082557844 meters Centerline goodness : 0.133801 with order 1 Centerline is valid? [False, False] Translation: X:-20.28, Y:-0.16, Z:-0.19 [[ 9.99997069e-01 -1.16600141e-03 2.12184870e-03 -2.02833716e+01] [ 1.16474520e-03 9.99999146e-01 5.93176301e-04 -1.60081430e-01] [-2.12253853e-03 -5.90703149e-04 9.99997573e-01 -1.87042200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.142557844 meters Centerline goodness : 0.135380 with order 1 Centerline is valid? [False, False] Translation: X:-20.27, Y:-0.15, Z:-0.20 [[ 9.99994122e-01 -1.73665241e-03 2.95644838e-03 -2.02677096e+01] [ 1.73839601e-03 9.99998317e-01 -5.87294385e-04 -1.51697829e-01] [-2.95542347e-03 5.92430410e-04 9.99995457e-01 -2.00416736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.202557844 meters Centerline goodness : 0.128206 with order 1 Centerline is valid? [False, False] Translation: X:-20.26, Y:-0.14, Z:-0.22 [[ 9.99977289e-01 -2.23652200e-03 6.35757393e-03 -2.02559132e+01] [ 2.24468839e-03 9.99996664e-01 -1.27766901e-03 -1.42019242e-01] [-6.35469519e-03 1.29191076e-03 9.99978974e-01 -2.15132265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.262557844 meters Centerline goodness : 0.128769 with order 1 Centerline is valid? [False, False] Translation: X:-20.24, Y:-0.13, Z:-0.23 [[ 9.99965787e-01 -1.81132470e-03 8.07119418e-03 -2.02426039e+01] [ 1.82625355e-03 9.99996635e-01 -1.84265940e-03 -1.33230865e-01] [-8.06782936e-03 1.85733640e-03 9.99965730e-01 -2.28465435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.322557844 meters Centerline goodness : 0.125966 with order 1 Centerline is valid? [False, False] Translation: X:-20.24, Y:-0.13, Z:-0.23 [[ 9.99961742e-01 -2.07611810e-03 8.49726301e-03 -2.02402214e+01] [ 2.09537269e-03 9.99995256e-01 -2.25770049e-03 -1.29433222e-01] [-8.49253545e-03 2.27541905e-03 9.99961349e-01 -2.32907604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.382557844 meters Centerline goodness : 0.125953 with order 1 Centerline is valid? [False, False] Translation: X:-20.23, Y:-0.12, Z:-0.24 [[ 9.99946018e-01 -1.52916697e-03 1.02773089e-02 -2.02311558e+01] [ 1.55255802e-03 9.99996222e-01 -2.26839752e-03 -1.24425909e-01] [-1.02738013e-02 2.28423119e-03 9.99944614e-01 -2.40631727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.442557844 meters Centerline goodness : 0.125840 with order 1 Centerline is valid? [False, False] Translation: X:-20.22, Y:-0.12, Z:-0.25 [[ 9.99925373e-01 -2.65734880e-03 1.19242434e-02 -2.02166987e+01] [ 2.69446447e-03 9.99991572e-01 -3.09763807e-03 -1.20591211e-01] [-1.19159114e-02 3.12953635e-03 9.99924106e-01 -2.53607049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.502557844 meters Centerline goodness : 0.126510 with order 1 Centerline is valid? [False, False] Translation: X:-20.20, Y:-0.12, Z:-0.27 [[ 9.99891976e-01 -4.26074126e-03 1.40670629e-02 -2.02013202e+01] [ 4.31291286e-03 9.99983926e-01 -3.68052569e-03 -1.17599775e-01] [-1.40511550e-02 3.74079812e-03 9.99894280e-01 -2.67125314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.562557844 meters SLAMing on 511.622557844 meters Centerline goodness : 0.114083 with order 2 Centerline is valid? [False, False] Translation: X:-20.14, Y:-0.11, Z:-0.28 [[ 9.99773049e-01 -3.87683696e-03 2.09480329e-02 -2.01419962e+01] [ 3.96742007e-03 9.99982952e-01 -4.28435453e-03 -1.13610532e-01] [-2.09310660e-02 4.36649184e-03 9.99771386e-01 -2.83671641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.68255784400003 meters Centerline goodness : 0.113039 with order 2 Centerline is valid? [False, False] Translation: X:-20.13, Y:-0.11, Z:-0.30 [[ 9.99742926e-01 -2.64309535e-03 2.25188105e-02 -2.01258007e+01] [ 2.72280862e-03 9.99990133e-01 -3.50992721e-03 -1.11235021e-01] [-2.25093112e-02 3.57033931e-03 9.99740258e-01 -2.97592434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74255784400003 meters SLAMing on 511.802557844 meters SLAMing on 511.862557844 meters Centerline goodness : 0.115365 with order 1 Centerline is valid? [False, False] Translation: X:-20.06, Y:-0.09, Z:-0.33 [[ 9.99256528e-01 -1.47075054e-02 3.56381782e-02 -2.00566614e+01] [ 1.49208610e-02 9.99872270e-01 -5.72815419e-03 -9.40636165e-02] [-3.55493792e-02 6.25564778e-03 9.99348342e-01 -3.25089196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.922557844 meters Centerline goodness : 0.068966 with order 1 Centerline is valid? [False, False] Translation: X:-20.02, Y:-0.09, Z:-0.34 [[ 9.98977922e-01 -2.11015019e-02 3.99729558e-02 -2.00229104e+01] [ 2.12539830e-02 9.99768350e-01 -3.39344474e-03 -8.98997885e-02] [-3.98920892e-02 4.23956090e-03 9.99195000e-01 -3.39864102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.982557844 meters Centerline goodness : 0.129344 with order 1 Centerline is valid? [False, False] Translation: X:-19.97, Y:-0.09, Z:-0.35 [[ 9.98779722e-01 -2.20115754e-02 4.42103713e-02 -1.99731256e+01] [ 2.22227511e-02 9.99743837e-01 -4.29076718e-03 -8.59212796e-02] [-4.41045997e-02 5.26800734e-03 9.99013029e-01 -3.48013954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0425578439999 meters Centerline goodness : 0.395355 with order 1 Centerline is valid? [False, False] Translation: X:-19.97, Y:-0.09, Z:-0.35 [[ 9.98652110e-01 -2.15883247e-02 4.72007226e-02 -1.99700252e+01] [ 2.17509437e-02 9.99759114e-01 -2.93430771e-03 -9.02795006e-02] [-4.71260059e-02 3.95701285e-03 9.98881115e-01 -3.51647699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.102557844 meters Centerline goodness : 0.411373 with order 1 Centerline is valid? [False, False] Translation: X:-19.92, Y:-0.09, Z:-0.36 [[ 9.98550522e-01 -2.15842576e-02 4.93049176e-02 -1.99165228e+01] [ 2.17360487e-02 9.99760506e-01 -2.54446173e-03 -9.06955358e-02] [-4.92381890e-02 3.61246768e-03 9.98780532e-01 -3.61051622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1625578439999 meters Centerline goodness : 0.428536 with order 1 Centerline is valid? [False, False] Translation: X:-19.90, Y:-0.09, Z:-0.36 [[ 9.98411955e-01 -1.43697096e-02 5.44709052e-02 -1.98950272e+01] [ 1.46178762e-02 9.99884498e-01 -4.16024881e-03 -9.31131724e-02] [-5.44048321e-02 4.94989110e-03 9.98506691e-01 -3.64937884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.222557844 meters SLAMing on 512.2825578439999 meters Centerline goodness : 0.108355 with order 2 Centerline is valid? [False, False] Translation: X:-19.81, Y:-0.10, Z:-0.39 [[ 9.98203277e-01 -5.64226358e-03 5.96521738e-02 -1.98137433e+01] [ 5.81355342e-03 9.99979461e-01 -2.69831547e-03 -1.00832997e-01] [-5.96357239e-02 3.04025845e-03 9.98215577e-01 -3.85299811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.342557844 meters Centerline goodness : 0.139115 with order 1 Centerline is valid? [False, False] Translation: X:-19.74, Y:-0.10, Z:-0.39 [[ 9.98326574e-01 -1.70976522e-03 5.78024882e-02 -1.97423318e+01] [ 1.91070146e-03 9.99992322e-01 -3.42116680e-03 -1.01604589e-01] [-5.77961951e-02 3.52588503e-03 9.98322176e-01 -3.90485356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.402557844 meters Centerline goodness : 0.395407 with order 2 Centerline is valid? [False, False] Translation: X:-19.74, Y:-0.10, Z:-0.40 [[ 9.98098791e-01 -8.28164405e-04 6.16288638e-02 -1.97393343e+01] [ 9.52562030e-04 9.99997568e-01 -1.98914295e-03 -1.04844233e-01] [-6.16270665e-02 2.04406649e-03 9.98097153e-01 -3.97064418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.462557844 meters Centerline goodness : 0.153118 with order 1 Centerline is valid? [False, False] Translation: X:-19.68, Y:-0.10, Z:-0.41 [[ 9.97911533e-01 -1.70959748e-04 6.45952289e-02 -1.96817891e+01] [ 2.54744038e-04 9.99999137e-01 -1.28883223e-03 -1.03974981e-01] [-6.45949528e-02 1.30259580e-03 9.97910715e-01 -4.09750398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.522557844 meters Centerline goodness : 0.155362 with order 1 Centerline is valid? [False, False] Translation: X:-19.62, Y:-0.11, Z:-0.42 [[ 9.97669867e-01 -1.67182582e-04 6.82261538e-02 -1.96249318e+01] [ 2.79097086e-04 9.99998631e-01 -1.63081741e-03 -1.05878965e-01] [-6.82257878e-02 1.64605911e-03 9.97668548e-01 -4.23626775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5825578439999 meters Centerline goodness : 0.111492 with order 1 Centerline is valid? [False, False] Translation: X:-19.58, Y:-0.10, Z:-0.43 [[ 9.97418043e-01 8.94866123e-04 7.18083987e-02 -1.95813075e+01] [-7.90429443e-04 9.99998588e-01 -1.48278299e-03 -1.03061411e-01] [-7.18096242e-02 1.42219503e-03 9.97417343e-01 -4.25970148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.642557844 meters Centerline goodness : 0.406525 with order 1 Centerline is valid? [False, False] Translation: X:-19.50, Y:-0.10, Z:-0.43 [[ 9.97589771e-01 2.03355986e-03 6.93578651e-02 -1.95024905e+01] [-1.84312819e-03 9.99994355e-01 -2.80952345e-03 -9.84523840e-02] [-6.93631869e-02 2.67491642e-03 9.97587887e-01 -4.30432648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7025578439999 meters Centerline goodness : 0.417700 with order 1 Centerline is valid? [False, False] Translation: X:-19.45, Y:-0.09, Z:-0.44 [[ 9.98091778e-01 3.48870587e-03 6.16492696e-02 -1.94460399e+01] [-3.34203287e-03 9.99991335e-01 -2.48210737e-03 -9.41788816e-02] [-6.16573948e-02 2.27133707e-03 9.98094788e-01 -4.37821375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.762557844 meters Centerline goodness : 0.107708 with order 3 Centerline is valid? [False, False] Translation: X:-19.38, Y:-0.09, Z:-0.45 [[ 9.98018397e-01 -1.07474229e-03 6.29136218e-02 -1.93769284e+01] [ 1.25868281e-03 9.99995049e-01 -2.88413901e-03 -9.31958425e-02] [-6.29102106e-02 2.95761209e-03 9.98014808e-01 -4.46583687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8225578439999 meters Centerline goodness : 0.106581 with order 1 Centerline is valid? [False, False] Translation: X:-19.31, Y:-0.09, Z:-0.45 [[ 9.97915846e-01 -6.45373930e-03 6.42052458e-02 -1.93065460e+01] [ 6.59375614e-03 9.99976322e-01 -1.96911086e-03 -9.39495784e-02] [-6.41910175e-02 2.38836066e-03 9.97934772e-01 -4.53596838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.882557844 meters Centerline goodness : 0.330659 with order 1 Centerline is valid? [False, False] Translation: X:-19.25, Y:-0.10, Z:-0.46 [[ 9.98421821e-01 -7.24220053e-03 5.56903668e-02 -1.92462108e+01] [ 7.38576545e-03 9.99969910e-01 -2.37252477e-03 -9.70039011e-02] [-5.56715088e-02 2.78009649e-03 9.98445268e-01 -4.56861381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9425578439999 meters Centerline goodness : 0.140858 with order 2 Centerline is valid? [False, False] Translation: X:-19.19, Y:-0.10, Z:-0.47 [[ 9.98144323e-01 -6.11070331e-03 6.05852255e-02 -1.91942548e+01] [ 6.20151983e-03 9.99979911e-01 -1.31106647e-03 -1.02921265e-01] [-6.05759969e-02 1.68435404e-03 9.98162167e-01 -4.67496516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.002557844 meters Centerline goodness : 0.119175 with order 2 Centerline is valid? [False, False] Translation: X:-19.14, Y:-0.11, Z:-0.48 [[ 9.97795952e-01 -3.73042867e-03 6.62519619e-02 -1.91425506e+01] [ 3.73562838e-03 9.99993021e-01 4.53989262e-05 -1.06736982e-01] [-6.62516690e-02 2.02193844e-04 9.97802924e-01 -4.78801007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0625578439999 meters Centerline goodness : 0.103149 with order 2 Centerline is valid? [False, False] Translation: X:-19.08, Y:-0.11, Z:-0.48 [[ 9.98393413e-01 -1.32130590e-03 5.66466784e-02 -1.90794609e+01] [ 1.29179617e-03 9.99999010e-01 5.57557776e-04 -1.05790699e-01] [-5.66473590e-02 -4.83486049e-04 9.98394132e-01 -4.78576230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.122557844 meters Centerline goodness : 0.098060 with order 2 Centerline is valid? [False, False] Translation: X:-19.03, Y:-0.11, Z:-0.49 [[ 9.98094138e-01 -3.79302369e-04 6.17085732e-02 -1.90314973e+01] [ 3.61736580e-04 9.99999891e-01 2.95828720e-04 -1.07413516e-01] [-6.17086786e-02 -2.72942663e-04 9.98094166e-01 -4.86254012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1825578439999 meters Centerline goodness : 0.228000 with order 1 Centerline is valid? [False, False] Translation: X:-19.03, Y:-0.11, Z:-0.49 [[ 9.98140525e-01 -3.79702970e-04 6.09536621e-02 -1.90269289e+01] [ 3.67269045e-04 9.99999909e-01 2.15193265e-04 -1.07060759e-01] [-6.09537383e-02 -1.92406725e-04 9.98140574e-01 -4.88681900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.242557844 meters Centerline goodness : 0.064967 with order 1 Centerline is valid? [False, False] Translation: X:-18.98, Y:-0.10, Z:-0.50 [[ 9.97774274e-01 1.95419761e-03 6.66534275e-02 -1.89789890e+01] [-2.01081329e-03 9.99997672e-01 7.82325869e-04 -1.03667731e-01] [-6.66517435e-02 -9.14612224e-04 9.97775881e-01 -4.97592339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3025578439999 meters Centerline goodness : 0.073434 with order 1 Centerline is valid? [False, False] Translation: X:-18.91, Y:-0.10, Z:-0.50 [[ 9.98376358e-01 3.80264175e-03 5.68347415e-02 -1.89145686e+01] [-3.80645698e-03 9.99992755e-01 -4.11286701e-05 -9.68794246e-02] [-5.68344861e-02 -1.75277107e-04 9.98383599e-01 -4.95903964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.362557844 meters Centerline goodness : 0.075429 with order 1 Centerline is valid? [False, False] Translation: X:-18.87, Y:-0.09, Z:-0.50 [[ 9.98039788e-01 7.04859143e-03 6.21844023e-02 -1.88678981e+01] [-7.14104638e-03 9.99973703e-01 1.26466345e-03 -8.95636687e-02] [-6.21738529e-02 -1.70624614e-03 9.98063876e-01 -5.02944278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4225578439999 meters Centerline goodness : 0.075488 with order 1 Centerline is valid? [False, False] Translation: X:-18.79, Y:-0.07, Z:-0.50 [[ 9.98689634e-01 1.00969527e-02 5.01703789e-02 -1.87902319e+01] [-1.01106974e-02 9.99948885e-01 2.01726983e-05 -7.46858324e-02] [-5.01676108e-02 -5.27403785e-04 9.98740673e-01 -5.03165272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.482557844 meters SLAMing on 513.5425578439999 meters Centerline goodness : 0.072601 with order 1 Centerline is valid? [False, False] Translation: X:-18.67, Y:-0.05, Z:-0.50 [[ 9.98926569e-01 1.14573544e-02 4.48825046e-02 -1.86742108e+01] [-1.14453933e-02 9.99934362e-01 -5.23476802e-04 -4.89118309e-02] [-4.48855563e-02 9.21696934e-06 9.98992135e-01 -5.04437699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.602557844 meters Centerline goodness : 0.091761 with order 1 Centerline is valid? [False, False] Translation: X:-18.62, Y:-0.04, Z:-0.50 [[ 9.99283619e-01 9.33177955e-03 3.66765215e-02 -1.86166642e+01] [-9.28284796e-03 9.99955782e-01 -1.50420543e-03 -3.70392201e-02] [-3.66889366e-02 1.16266527e-03 9.99326058e-01 -5.04494895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6625578439999 meters Centerline goodness : 0.091725 with order 1 Centerline is valid? [False, False] Translation: X:-18.53, Y:-0.02, Z:-0.50 [[ 9.99664830e-01 5.67170554e-03 2.52598338e-02 -1.85314966e+01] [-5.62561788e-03 9.99982380e-01 -1.89523270e-03 -2.25423425e-02] [-2.52701379e-02 1.75249530e-03 9.99679123e-01 -4.96644198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.722557844 meters Centerline goodness : 0.080940 with order 2 Centerline is valid? [False, False] Translation: X:-18.46, Y:-0.01, Z:-0.50 [[ 9.99584890e-01 1.38550663e-03 2.87772152e-02 -1.84636245e+01] [-1.33815876e-03 9.99997719e-01 -1.66451808e-03 -8.83195951e-03] [-2.87794558e-02 1.62531864e-03 9.99584464e-01 -5.00417733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7825578439999 meters Centerline goodness : 0.082104 with order 2 Centerline is valid? [False, False] Translation: X:-18.40, Y:0.00, Z:-0.49 [[ 9.99814366e-01 1.24875564e-03 1.92269173e-02 -1.83969623e+01] [-1.18857317e-03 9.99994360e-01 -3.14122491e-03 1.47661350e-03] [-1.92307315e-02 3.11778919e-03 9.99810211e-01 -4.94742453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.842557844 meters Centerline goodness : 0.081945 with order 2 Centerline is valid? [False, False] Translation: X:-18.32, Y:0.01, Z:-0.49 [[ 9.99972746e-01 7.43834825e-05 7.38253980e-03 -1.83164727e+01] [-3.74835702e-05 9.99987508e-01 -4.99828049e-03 1.29630763e-02] [-7.38281937e-03 4.99786754e-03 9.99960257e-01 -4.89147822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.902557844 meters Centerline goodness : 0.095065 with order 2 Centerline is valid? [False, False] Translation: X:-18.29, Y:0.01, Z:-0.50 [[ 9.99852441e-01 -6.32552932e-03 1.59713661e-02 -1.82944277e+01] [ 6.37698643e-03 9.99974633e-01 -3.17296483e-03 1.42737827e-02] [-1.59508902e-02 3.27434582e-03 9.99867415e-01 -4.99310275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 37938.67 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%| | 0/17132 [00:00